Method and apparatus for temporarily immobilizing a local area of tissue

ABSTRACT

A method and apparatus for temporarily immobilizing a local area of tissue. In particular, the present invention provides a method and apparatus for temporarily immobilizing a local area of tissue within a patient&#39;s body cavity. In one embodiment, the tissue immobilized is heart tissue to thereby permit surgery on a coronary vessel in that area without significant deterioration of the pumping function of the beating heart. The local area of heart tissue is immobilized to a degree sufficient to permit minimally invasive or micro-surgery on that area of the heart. The apparatus for temporarily immobilizing a local area of tissue includes a first tissue engaging member and a second tissue engaging member coupled to a spreader The spreader is operated by an actuator to selectively control the movement of the first tissue engager and the second tissue engager The method for temporarily immobilizing a local area of tissue includes controlling the spreading of the first tissue engaging member and the second tissue engaging member so a selective amount of spreading occurs.

RELATED APPLICATION

This is a continuation application claiming priority from U.S. patentapplication Ser. No. 09/678,203 filed Oct. 2, 2000 which is acontinuation-in-part application claiming priority from U.S. patentapplication Ser. No. 09/493,466 filed Jan. 28, 2000 now U.S. Pat. No.6,371,906, which is a divisional of prior U.S. patent application Ser.No. 09/334,531 filed Jun. 16, 1999 now U.S. Pat. No. 6,364,826, which isa divisional of prior U.S. patent application Ser. No. 08/725,371 filedOct. 3, 1996 now U.S. Pat. No. 6,015,378, which is acontinuation-in-part of prior U.S. patent application Ser. No.08/531,363 filed Sep. 20, 1995 of Borst et al. entitled METHOD ANDAPPARATUS FOR TEMPORARILY IMMOBILIZING A LOCAL AREA OF TISSUE now U.S.Pat. No. 5,836,311.

FIELD OF THE INVENTION

The present invention generally relates to surgery on body tissues andorgans. More specifically, the present invention relates to a method andapparatus for temporarily immobilizing a local area of tissue subject tomotion, such as the heart wall, which permits a surgical procedure to beperformed on that local area of tissue.

BACKGROUND OF THE INVENTION

Coronary artery disease remains the leading cause of morbidity andmortality in Western societies. Coronary artery disease is manifested ina number of ways. For example, disease of the coronary arteries can leadto insufficient blood flow to various areas of the heart. This can leadto the discomfort of angina and the risk of ischemia. In severe cases,acute blockage of coronary blood flow can result in irreversible damageto the myocardial tissue including myocardial infarction and the risk ofdeath.

A number of approaches have been developed for treating coronary arterydisease. In less severe cases, it is often sufficient to merely treatthe symptoms, with pharmaceuticals, or treat the underlying causes ofthe disease, with lifestyle modification. In more severe cases, thecoronary blockage can be treated endovascularly or percutaneously usingtechniques such as balloon angioplasty, atherectomy, laser ablation,stents, and the like.

In cases where these approaches have failed or are likely to fail, it isoften necessary to perform a coronary artery bypass graft procedure.This procedure generally consists of the following steps: First, directaccess to the heart is achieved. This is usually done by opening thechest by median sternotomy and spreading the left and right rib cageapart; and opening the pericardial sac to achieve direct access to theheart.

Next, a blood vessel or vessels for use in the graft procedure aremobilized from the patient. This usually entails mobilizing either amammary artery or a saphenous vein, although other graft vessels mayalso be used.

Next, a heart-lung or cardiopulmonary bypass is performed. This usuallyentails arterial and venous cannulation, connecting the bloodstream to aheart-lung machine, cooling the body to about 32 degrees Celsius,cross-clamping of the aorta and cardioplegic perfusion of the coronaryarteries to arrest and cool the heart to about 4 degrees Celsius. Thearrest or stoppage of the heart is generally required because theconstant pumping motion of the beating heart would make surgery upon theheart difficult in some locations and extremely difficult if notimpossible in other locations

Once cardiac arrest is achieved, then a graft (or grafts) is attached tothe relevant portions of a coronary artery (or arteries) followed byweaning from the cardiopulmonary bypass, restarting the heart anddecannulation. Finally the chest is closed.

One area which may create difficulties for the patient and extra expenseand time for the procedure involves the cardiopulmonary bypass. In acardiopulmonary bypass all the patient's blood, which normally returnsto the right atrium, is diverted to a system which supplies oxygen tothe blood and removes carbon dioxide and returns the blood, atsufficient pressure, into the patient's aorta for further distributioninto the body. Generally such a system requires several separatecomponents, including an oxygenator, several pumps, a reservoir, a bloodtemperature control system, filters as well as flow, pressure andtemperature sensors.

Problems may develop during cardiopulmonary bypass due to the reactionblood has to non-endothelially lined surfaces, i.e. surfaces unlikethose of a blood vessel. In particular, exposure of blood to foreignsurfaces results in the activation of virtually all the humoral andcellular components of the inflammatory response, as well as some of theslower reacting specific immune responses. Other complications fromcardiopulmonary bypass include loss of red blood cells and platelets dueto shear stress damage. In addition, cardiopulmonary bypass requires theuse of an anticoagulant, such as heparin. This may, in turn, increasethe risk of hemorrhage. Finally cardiopulmonary bypass sometimesnecessitates giving additional blood to the patient. The additionalblood, if from a source other than the patient, may expose the patientto blood born diseases.

Due to the risks incurred during cardiopulmonary bypass, others haveattempted to perform a coronary artery bypass graft procedure withoutcardiac arrest and cardiopulmonary bypass. For example, Trapp andBisarya in “Placement of Coronary Artery Bypass Graft Without PumpOxygenator”, Annals Thorac. Surg. Vol. 19, No. 1, (January 1975) pgs.1–9, immobilized the area of the bypass graft by encircling sutures deepenough to incorporate enough muscle to suspend an area of the heart andprevent damage to the coronary artery. More recently Fanning et al. in“Reoperative Coronary Artery Bypass Grafting Without CardiopulmonaryBypass”, Annals Thorac. Surg. Vol. 55, (February 1993) pgs. 486–489 alsoreported immobilizing the area of the bypass graft with stabilizationsutures.

While these attempts have achieved some success, they generally requireenhanced skill of the surgeon to properly create the anastomosisbecause, even with sutures, the beating heart continues to move in therelevant area more than desired.

SUMMARY OF THE INVENTION

In one embodiment of the invention, an actuator is configured to operatea spreader to selectively control the movement of a first tissueengaging member among a first position, a second position, and at leasta third position, and selectively control the movement of the secondtissue engaging member among a first position, a second position and atleast a third position. The first tissue engaging member and the secondtissue engaging member are coupled to the spreader. The spreader iscarried on an arm distal end and the actuator is carried on the armproximal end.

In another embodiment of the invention, the first tissue engaging memberand the second tissue engaging member are further spread once they arecoupled to a tissue surface to place the tissue between the first tissueengaging member and the second tissue engaging member under tension.

In still another embodiment of the invention, a method is employed tointroduce the first tissue engaging member and second tissue engagingmembers into a patient's body. The tissue engaging members are spreadand this spreading is controlled so a selective amount of spreadingoccurs. After the tissue engaging member have been spread a selectiveamount, the tissue engaging members are coupled to the tissue surfacedesired to be stabilized.

BRIEF DESCRIPTION OF THE DRAWINGS

The foregoing and other aspects of the present invention will best beappreciated with reference to the detailed description of the inventionin conjunction with the accompanying drawings, wherein:

FIG. 1 is a plan view of the device being used to temporarily immobilizea local area of heart tissue in which access to the heart is achievedthrough a mini-thoractomy.

FIGS. 2 a and 2 b depict a first type of suction device shown in use inFIG. 1.

FIGS. 3 a and 3 b depict a second type of suction device shown in use inFIG. 1.

FIG. 4 is a longitudinal sectional view of the suction paddle used inthe present invention.

FIG. 5 is a cross-sectional view of the suction paddle used in thepresent invention taken along the line 5—5 of FIG. 4.

FIG. 6 is a longitudinal sectional view of the suction arm used in thepresent invention.

FIG. 7 is a plan view of the suction arm used in the present invention.

FIG. 8 is a detailed view of a pair of suction devices being positionedon a heart and spread apart.

FIGS. 9 and 10 show the effect of the spread-apart motion depicted inFIG. 8.

FIG. 11 is an example of the motion in the plane parallel to the surfaceof the heart of a point on heart tissue during one half respiratorycycle when the heart is unrestrained and also depicting the motion ofthe same point on heart tissue when the suction devices are used.

FIG. 12 is an enlarged portion of FIG. 11 depicting the motion of thesame point on heart tissue when the suction devices are used.

FIG. 13 is an alternate embodiment of the present invention.

FIG. 14 is a plan view of the device being used to temporarilyimmobilize a local area of heart tissue in which access to the heart isachieved through a median sternotomy.

FIG. 15 is a side view of an alternate embodiment of the presentinvention, shown placed against the surface of the heart.

FIG. 16 is a bottom view of the alternate embodiment of the presentinvention device shown in FIG. 15.

FIG. 17 is a side view of a further alternate embodiment of the presentinvention, shown placed against the surface of the heart.

FIG. 18 is a bottom view of still further alternate embodiment of thepresent invention.

FIG. 19 is a cross-sectional view of a body showing an alternativemethod of achieving access to the surface of the heart, and inparticular of achieving such access using minimally invasive trocars.

FIG. 20A is a cross-sectional view of a body showing an alternateembodiment of the present invention, and in particular, an alternateembodiment of the securing device.

FIG. 20B is a top view of the embodiment shown in FIG. 20A.

FIG. 21 is a perspective view of a securing device.

FIG. 22 depicts an overhead view of the securing device.

FIG. 23 is a side view of an alternate embodiment of suction device.

FIG. 24 is a further alternate embodiment of a suction device.

FIG. 25 is a perspective view of an alternate embodiment of animmobilizing device.

FIG. 26A is a view of the bottom of an alternate embodiment of a suctionpaddle used in the immobilizing device.

FIG. 26B is a perspective view of a further alternate embodiment of asuction paddle used in the immobilizing device.

FIG. 27 is a perspective view of a turning handle used to bend or orientthe suction paddle portion of the immobilizing device.

FIG. 28 is a bottom view of an alternate embodiment of immobilizingdevice.

FIG. 29 is a plan view of a spreader used in an alternate embodiment ofthe present invention.

FIG. 30 depicts an alternate embodiment of spreader.

FIG. 31 depicts an alternate embodiment of immobilizing device and, inparticular, an alternate embodiment of the securing device used tosecure each suction paddle to the operating table rail.

FIG. 32 is a cross sectional view of the arm shown in FIG. 31.

FIG. 33 depicts a further alternate embodiment of the present invention,and in particular of a suction device substantially similar to thatshown in FIG. 13 but for that the suction ports are located at the topof the suction paddle.

FIG. 34 depicts a further alternate embodiment of the present invention,and in particular of a suction device that may be used in an endoscopicprocedure featuring an arm, and a pair of tissue engaging members and aspreader.

FIG. 35 is a longitudinal cross-sectional view of the distal end of asuction device.

FIG. 36 is a longitudinal cross-sectional view of the distal end of asuction device.

FIG. 37 is a bottom view of a spreader with coupled suction paddles in anon-spread position.

FIG. 38 is a bottom view of spreader with coupled suction paddles in aspread position.

FIG. 39 is a plan view of a spreader member.

FIG. 40 is a plan view of a spreader member.

FIG. 41 is a plan view of a slide component of a spreader.

FIG. 42 is a side view of a slide component of a spreader.

FIG. 43 is a side view of an anchor component of a spreader.

FIG. 44 is a plan view of an anchor component of a spreader.

FIG. 45 depicts a further alternate embodiment of the present invention,and in particular of a suction device that may be used in an endoscopicprocedure featuring an arm, and a pair of tissue engaging members and aspreader.

FIG. 46 depicts an alternate embodiment of of the present invention, andin particular of a suction device that may be used in an endoscopicprocedure featuring an arm with joints, and a pair of tissue engagingmembers and a spreader.

FIG. 47 is a side view of a joint.

FIG. 48 is a cross-sectional view of a body showing one method ofachieving access to a surface of the heart and using the presentinvention to immobilize an area of tissue.

FIG. 49 depicts a further alternate embodiment of the present invention,and in particular of a suction device that may be used in an endoscopicprocedure, as described earlier, featuring an arm with joints, and apair of tissue engaging members and a spreader.

FIG. 50 depicts a further alternate embodiment of the present invention,and in particular of a suction device that may be used in an endoscopicprocedure, as described earlier, featuring an arm with joints, and apair of tissue engaging members and a spreader.

FIG. 51 depicts a further alternate embodiment of the present invention,and in particular of a suction device that may be used in an endoscopicprocedure, as described earlier, featuring an arm with joints, and apair of tissue engaging members and a spreader.

FIG. 52 depicts a further alternate embodiment of the present invention,and in particular of a suction device that may be used in an endoscopicprocedure, as described earlier, featuring an arm with joints, and apair of tissue engaging members and a spreader.

FIG. 53 depicts a further alternate embodiment of the present invention,and in particular of a suction device that may be used in an endoscopicprocedure, as described earlier, featuring an arm with joints, and apair of tissue engaging members and a spreader.

FIG. 54 depicts a further alternate embodiment of the present invention,and in particular of a suction device that may be used in an endoscopicprocedure, as described earlier, featuring an arm with joints, and apair of tissue engaging members and a spreader.

FIG. 55 depicts a further alternate embodiment of the present invention,and in particular of a suction device that may be used in an endoscopicprocedure, as described earlier, featuring an arm with joints, and apair of tissue engaging members and a spreader.

FIG. 56 is a bottom view of an alternate embodiment of suction paddle ofthe present invention.

FIG. 57 is a side view of an alternate embodiment of suction paddle ofthe present invention.

The drawings are not necessarily to scale.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

FIG. 1 is a view of the immobilizing device 11 being used to temporarilyimmobilize an area of heart tissue. In the preferred embodiment,surgical access to the local area of heart tissue is achieved through amini-thoracotomy, preferably performed within either the fourth or fifthintercostal space. An incision 10 of approximately 10 centimeters ismade into chest cavity between the ribs (seen here in phantom.) The ribcartilage may be temporarily removed and the ribs surrounding theincision slightly spread apart using a retractor (not shown) to provideadequate surgical access to the mammary artery and the heart. As seen, apair of suction devices 12, 13 are introduced. The first suction device12 is introduced through a small stab wound 8 in between the ribsapproximately 10 cm. below incision 10. This stab wound is made in anyacceptable manner. Incidentally, once the surgery has been completed,the stab wound may be used for the thorax drain after the closure of thechest. As discussed below with reference to FIG. 19, the suction devicehas a covering 180, made from latex rubber, over the distal end when itpenetrates the chest wall in order to avoid blood and tissue fromentering the suction ports and block suction apertures. Once suctiondevice is introduced, covering 180 is removed and the distal end ispositioned onto heart. The second suction device 13 is introducedthrough incision 10 onto the surface of the heart. As seen, the distalend of each suction device is ultimately positioned in the local area ofheart tissue to be immobilized, i.e. on either side of a coronary arteryupon which a graft is to be made.

As seen, suction devices 12, 13 are secured using securing devices 14,15 respectively to a stationary object, such as surgical table 16 Ofcourse other. objects besides the surgical table may be used as astationary object, including the floor, ceiling or even the patient,such as a portion of the skeletal system of the patient, e.g. thesternum, In the preferred embodiment, each securing device 14, 15 is avariable friction arm, model no. 244 available from Manfrotto Nord, Inc.of Zona Industriale di Villapaiera, I-32032 Feltre BL, Italy Eachsecuring device 14, 15 has a series of variable elbow joints 17 whichmay be locked in position. Thus the securing device permits the suctiondevice to be locked into any position desired within three-dimensionalspace. Although not show, each securing device (or each suction deviceor both) may also be interconnected such that a truss type structure iscreated and the entire stiffness or rigidity of the immobilizing device11 is improved.

Suction devices 12, 13 are coupled to a suction source 114 through lines20, 21. Suction source 114 is preferably the standard suction availablein the operating room and coupled to the devices with a two liter bufferflask (not shown) for each device. Suction is provided at a negativepressure of between 200–600 mm Hg with 400 mm Hg preferred. As seen,each suction device has essentially two portions, a paddle 22 and an arm23. FIGS. 2 and 3 detail suction devices 12 and 13 respectively.

Turning now to FIGS. 2 a and 2 b, FIG. 2 a is a side view of a suctiondevice 12 showing its placement against the outline of a heart. As seen,the distal end of suction device comprises a paddle 22 and arm 23coupled together by a continuous hinge or neck 71. Paddle 22 has agenerally planar surface which conforms generally to the curvature of aheart 1, shown here in outline. In the preferred embodiment, suction arm23 is coupled to suction paddle 22 such that suction paddle 22 may berotated or bent to achieve the desired orientation relative to arm 23.This is accomplished by neck 71. Neck 71 is fashioned to be relativelybendable, that is to be bent by hand into the desired orientation, asopposed to paddle 22 and arm 23, which are rigid. In the preferredembodiment suction paddle 22 and suction arm 23 are constructed ofstainless steel 316, while neck 71 is constructed of stainless steel321. Of course other means may be provided to permit paddle 22 to moveor rotate relative to arm 23 other than making neck 71 to be malleableby hand, such as a locking hinge as well as a remotely actuable joint,as is well known in the art. See for example, U.S. Pat. No. 5,374,277 ofHassler, incorporated herein by reference. A remotely actuable hinge isbelieved particularly advantageous for a suction device usedendoscopically. In an alternate embodiment paddle may be fixed in arigid orientation relative to arm. As seen, arm 23 has a suction lumen30 therethrough which communicates with a suction conduit 31 in paddle22 through neck lumen 72. Suction conduit 31 in paddle 22 furthercommunicates through suction hole 32 (best seen in FIG. 2 b) to suctionport 33.

FIG. 2 b is a view of the bottom of suction device 12. As seen, in thepreferred embodiment four suction ports 33 in a row are featured,although the specific or exact number and position used may vary. Eachsuction port 33 has a suction aperture 32, each of which are preferablylocated at a position off-center from suction port 33. Suction apertures32 are positioned off center from suction ports 33 so that if a largeupwelling of tissue is caused by the suction (which may occur as ablister or bell-shaped curve) the tissue will not immediately close offthe suction by obstructing suction aperture 32, as it would if theaperture were in the center of suction port 33. In addition, eachsuction aperture 32 has a much smaller diameter as compared to thediameter of suction port 33. This creates a high resistance pathwaybetween suction port 33 and suction conduit 31 which permits the loss ofa tissue-to-port seal in one suction port (and thus loss of fixation ofthe suction port to the tissue) to not also cause a precipitous pressuredrop in the remainder of the suction ports. In the preferred embodimentsuction aperture 32 has a diameter of 2 mm and suction port 33 has adiameter of 6 mm. As can be seen through a comparison between FIGS. 2Aand 2B the relatively straight sided suction ports define a generallyplanar surface through the ends of each port

Turning now to FIGS. 3 a and 3 b, FIG. 3 a is a side view of a suctiondevice 13 shown in FIG. 1. As seen, the distal end of suction device 13comprises paddle 22 and arm 23 coupled together by a continuous hinge orneck 71. Paddle 22 has a generally planar surface which conformsgenerally to the curvature of a heart 1. In the preferred embodiment,suction arm 23 is coupled to suction paddle 22 such that suction paddle22 may be rotated or bent along any of the three axes to achieve thedesired orientation relative to arm 23. This is accomplished by neck 71.Neck 71 is substantially similar to that discussed in FIG. 2 a but forthe fact that suction device 13 has suction paddle 22 at an angledorientation to suction arm 23. In the preferred embodiment suctionpaddle 22 of suction device 13 is perpendicular to suction arm 23,although other angular orientations may be used.

FIG. 3 b is a view of the bottom of suction device 13. As seen, in thepreferred embodiment suction paddle 22 of suction device 13 issubstantially similar to that described in FIG. 2 b. In the preferredembodiment suction aperture 32 has a diameter of 2 mm and suction port33 has a diameter of 6 mm.

FIG. 4 is a longitudinal cross-sectional view of suction paddle 22 usedin immobilizing device 11. As seen, paddle 22 has a series of suctionports 33 each of which is connected to suction conduit 31 through asuction aperture 32. Each suction port 33 has generally straight,cylindrical sides. Of course other configurations may be used, such ascone-shaped suction ports, dome-shaped suction ports, etc. As can beseen through this FIG. it is the bottoms or ends themselves of thesuction ports define a generally planar surface through the ends of eachport along the bottom surface of the paddle. Moreover, although shownhere as conjoined or defining a continuous surface, suction ports may befurther arranged such that they are each separate and distinct from oneanother, but which would still define a planar surface along throughtheir ends along the bottom of the paddle.

FIG. 5 is a cross-sectional view of the suction paddle 22 taken alongthe line 5—5 of FIG. 4 As seen, suction port 33 is connected to suctionconduit 31 through suction aperture 32. Suction paddle 22 has a cantedor slanted surface 36 at the top. Through this type of surface, area 37may be better accessed for performing surgical procedures.

FIG. 6 is a longitudinal cross-sectional view of suction arm 23. Distalend 71 of suction arm 23 has neck 71 (not shown in this FIG.) fixedthereto. As seen, arm 23 has a suction lumen 30 therethrough whichcommunicates with suction conduit 31 in paddle 22 through neck lumen 72of neck 71 (shown in phantom in this FIG.). As seen in FIG. 7, which isa plan view of suction arm 23, proximal end 75 has a series of knurledridges 76 to facilitate coupling a suction line coming from suctionsource (not shown in this FIG) to suction arm 23.

FIG. 8 is a detailed view of a pair of suction devices 12, 13 beingpositioned on a heart and spread apart As seen, paddles 22, 27 of eachdevice generally are placed in the area 34 in which temporaryimmobilization of the heart tissue is desired. When used for a coronarybypass graft, area 34 typically will have a coronary artery 35 runningtherethrough Area 34 is between paddles 22, 27. Once placed about area34, suction is then created in the suction ports (not shown in thisview.) Through the suction, the device then is fixed to or grabs hold ofthe heart tissue.

Once the suction is created and the paddles are secured to the hearttissue, each of the suction devices are then spread slightly apart asshown by the arrows 40, 41 to the positions shown as 42, 43. The effectof this spreading apart is to cause a tension to be created in the area34 of the heart tissue between the paddles. The tension causes the area34 to be further immobilized, and in particular in the Z-direction, i.e.in the direction normal to the plane defined by the surface of theheart. This is represented in FIGS. 9 and 10.

As seen in FIG. 9, the area of heart tissue between the paddles, evenwith the placement of the paddles, still has some vertical motion, shownhere as arrow 50. When paddles 22, 27 are slightly spread apart to causea tension in that area 34 of tissue between the paddles, as depicted inFIG. 10, then the amount of movement in the area 34 between the paddles22, 27 due to the tension is further decreased, especially in theZ-direction, i.e. the direction perpendicular to the surface of theheart 1. Once the paddles 22, 27 are thus positioned and secured and thearea of the tissue is temporarily immobilized, the coronary artery inthat area may be operated upon.

In the preferred embodiment, the anastomosis of the coronary artery maybe accomplished through any acceptable end-to-side or side-to-sidetechnique. Of course, other methods of performing the anastomosis may beused, such as those methods which may be performed endoscopically.

FIG. 11 is an example of the motion in the plane parallel to the surfaceof the heart of a point on heart tissue during one half respiratorycycle when the heart is unrestrained and also depicting the motion ofthe same point on heart tissue when the suction devices are used. Line60 is a tracing of the motion of a point of tissue on the cardiacsurface. As seen by line 60, a point on the cardiac surface movesapproximately 15 mm in each direction. Generally, each loop of movementdepicts the motion of the beating heart within one cardiac cycle. Thus,loop 61 occurs due to one cardiac cycle. Loop 62 occurs due to the nextcardiac cycle, but the entire heart has shifted in location somewhat dueto the inflation or deflation of the lungs associated with respiration.Line 63 shows the motion of the same point of heart tissue when thesuction device is placed near the area and the heart wall is immobilizedby the present invention. As seen, the present invention functions tominimize heart wall movement in that area to approximately 1 mm in eachdirection. This is best seen in FIG. 12 which is an enlarged portion ofFIG. 11 and in particular line 63. As seen, through the use of thepresent invention, heart wall movement has been decreased to onlyslightly more than 1 mm. Decreased to an amount in the area of thesuction devices such that the still-beating heart may be operated uponin that area using an endoscope or any other method of minimallyinvasive surgery

FIG. 13 is an alternate embodiment of the present invention. As seen,the embodiment of FIG. 13 comprises a suction sleeve 80 which is coupledto an annular suction head 81 via a ball bearing joint 84. Ball bearingjoint 84 may be provided so as to permit remote actuation of the suctionhead 81 from a position outside the chest. The suction head 81 has aseries of suction ports 82 located along a first planar surface. In theembodiment shown the planar surface upon which the suction ports 82 arelocated is conical in shape, although other types of planar surface maybe used, such as frusto-conical for example. The suction head 81 may beconstructed such that each half of the device is coupled to a separatesuction source. Through such a configuration, if one-half of the suctionhead 81 were to lose contact with the surface the other one-half of thesuction head 81 could maintain capture. The suction sleeve 80 is used asdescribed above. That is the suction sleeve 80 itself is coupled to asuction source (not shown but the same as suction source 114) and isfixed or immobilized to a stationary point, such as the operating tableor a retractor false not shown.) Suction through the suction source andthe suction sleeve 80 then causes the suction ports 82 to suck upon theheart tissue Through this configuration then the heart tissue in thecenter of suction sleeve is immobilized. Interruption or opening 83permits suction head 81 to be fixed to heart tissue while permitting ablood vessel to be grafted. In particular, if a mammary artery has beengrafted end-to-side to a coronary artery, then the opening 83 permitsthe suction head 81 to be removed from around the grafted artery.

FIG. 14 is a view of the device being used to temporarily immobilize alocal area of heart tissue using an alternative access procedure to thepreferred mini-thoracotomy. In particular heart 1 is exposed with anincision 2 through the patient's sternum and the chest is spread apartby a retractor 3 to provide access to the heart 1. Access to the heart 1is further effected by retraction of the pericardium 4 in the area ofthe heart 1 which is to be operated on. As shown pericardial retractionis accomplished through sutures 5.

As seen, the immobilizing device 11 comprises a pair of suction devices12, 13 and a suction source 114. Suction devices 12, 13 are secured topatient be securing each to retractor 3 through a pair of clamps 19. Ofcourse suction devices 12, 13 may also be secured to the operating table(not shown in this FIG. but using a securing device as described above.)Suction devices are coupled to suction source 114 through lines 20, 21.Suction source 114 is preferably the standard suction available in theoperating room and coupled to the devices with a two liter buffer flask(not shown) for each device. Suction is provided at a negative pressureof between 200–600 mm Hg with 400 mm Hg preferred. As seen, each suctiondevice has essentially two portions, a paddle 22 and an arm 23.

Turning now to FIG. 15 which is a side view of an alternate embodimentof suction device 12 showing its placement against the outline of aheart. As seen, the distal end of suction device comprises a paddle 22and arm 23. Paddle 22 has a generally planar surface which conformsgenerally to the curvature of a heart 1, shown here in outline. Thepaddle 22 is coupled to arm 23 through a pin 24. The pin 24 permits thepaddle 22 to be swiveled to the preferred angle relative to arm 23. Asseen, arm 23 has a suction lumen 30 therethrough which communicates witha suction conduit 31 in paddle 22. Suction conduit 31, in turn,communicates through suction aperture 32 (best seen in FIG. 4) tosuction port 33.

FIG. 16 is a view of the bottom of suction device 12 shown in FIG. 15.As seen, four suction ports 33 in a row are featured, although thespecific or exact number and position used may vary.

FIG. 17 is a further alternate embodiment of a suction device 12 showingits placement against the outline of a heart. As seen, suction device 12is substantially similar to that shown and described in FIG. 2, but forthe addition of suture coil 73. Suture coil 73 is a tightly wound springfixed to the top surface of suction paddle 22. Further temporarystabilization of the coronary anastomosis site may be achieved, ifdesired, by catching epicardial flaps with light traction sutures.Suture coil 73 permits these and any other sutures to be temporarilyfixed in place by wedging the suture between within suture coil 73, asis known in the art.

FIG. 18 is a bottom view of a further alternate embodiment of suctiondevice 12 As seen, suction device 12 is substantially similar to thatshown and described in FIG. 2, but for the addition of electrode 174along a side of suction paddle 22. Electrode 174 is coupled by lead 175to pulse generator 176. Electrode 174, lead 175 and pulse generator 176may be provided according to well know methods and materials so as topermit the heart to be paced, cardioverted or defibrillated whilesuction device 12 is fixed to the surface of the heart.

FIG. 19 is a cross-sectional view of a body showing an alternate methodof achieving access to a surface of the heart and using the presentinvention to immobilize an area of tissue. As seen suction device 12 isintroduced through a first stab wound. As discussed above, suction arm23 of device 12 is secured by securing device 14 to a stationary object,such as operating table 16. A second suction device may also beintroduced through a second stab wound to securely immobilize a localarea of tissue. Each suction device has a covering 180, made from latexrubber, over the distal end when it penetrates the chest wall in orderto avoid blood and tissue from entering the suction ports and blocksuction apertures. Two or more additional surgical trocars 78 may beintroduced to permit endoscopy and surgical access to heart 1. Inaddition the left lung 79 may also be partially collapsed so as toprovide an unencumbered area in which to manipulate the surgicalinstruments.

FIG. 20A is a cross-sectional view of a body showing an alternateembodiment of the present invention, and in particular, an alternateembodiment of the securing device. In this embodiment, securing devicecomprises a pair of anchors 201, 202 which are attached to surgicaltable 203 As seen, surgical table is attached by pedestal 204 to thefloor 205 Each anchor is attached on either side of the table using apair of fasteners 206, 207. In the preferred embodiment, fasteners are apair of screws which couple with longitudinal slots within each anchorto permit the anchors to be adjusted both in an inward and outwarddirection as well as up and down, as shown by the arrows As seen,anchors are designed to follow the contour of patient 210 to therebyprovide a smooth surface over which a surgeon may operate. Each anchoris attached to retractor 3 by fasteners 211, 212. On the retractor 3 amounting rail 999 is attached, best seen in FIG. 20B discussed below.Attached in turn to mounting rail is a pair of slip-grip type holders12A, 13A or any other holder which permits an object to be quickly butsecurely mounted or removed, and mounted in turn to holders are a pairof suction devices 12B, 13B as has been already previously discussedabove. In the preferred embodiment, each anchor is a strip ofbiocompatible metal, such as stainless steel, approximately 5–8centimeters in width and 0.6–0.8 centimeters in thickness. As seenpositioned at the bottom of anchors is a truss. In particular eachanchor has fixed to it a descending member 216, 217, each of which arelinked together by a pair of cross-braces 218, 219. Cross-braces may ormay not be coupled together at their center points. As can beappreciated, through this truss construction the stability of anchorsand thus the suction devices mounted thereto is increased.

FIG. 20B is a top view of the embodiment shown in FIG. 20A. As seen,mounted to anchors 201, 202 is a mounting rail 999 In the preferredembodiment mounting rail is ellipsoidal in shape. As seen mounting railis used to mount slip-grip type holders 12A, 13A and their correspondingsuction devices. To be precise, mounting rail permits the suctiondevices to be securely mounted but yet be easily moved in the area ofthe surgical procedure. The ellipsoidal shape, moreover, correspondsmore suitably to the surgical area. Of course, other shapes may also beused, such as circular, or non-symmetrical, for example. Of course otherconfigurations of a mounting rail, retractor and anchor may be used,such as a retractor integral with the anchors or a mounting railintegral with the retractor or both, to mention only two of the manypossibilities.

In use, access to the heart is achieved and retraction of the chest wallis performed prior to the positioning of the anchors. Once the heartaccess is achieved, the retractor is coupled to the anchors and theanchors are then fixed to the table. At this point, the retractor isthus immobilized with respect to the table and provides a stationaryobject to which the immobilizing device featuring the a pair of suctiondevices 12B, 13B may be coupled.

FIGS. 21 and 22 depict a further alternate embodiment of the securingdevice. FIG. 21 is a perspective view of a securing device. As seen, inthis embodiment, the securing device comprises a pair of formed rails220, 221. As seen, each rail is coupled to the surgical table 203through a series of screws 222, 223. Although not shown in the FIGS eachrail further features a truss-like structure such as that shown in FIG.20A which is positioned below the table which provides additionalrigidity and stability. As seen, each rail is further formed to slopeinwardly toward the patient 210 (shown in outline in this FIG.) Thisprovides for access above the patient by the surgeon. Straddling betweeneach rail is a mounting 224. The mounting is adjustable along the rail.The mountings are further designed to have a suction device mountedthereto. In such a manner, the mounting 224 and rails 220, 221 provide astationary object to which the suction device may be mounted.

FIG. 22 depicts an overhead view of the rails 220, 221 used to positiona suction device to the heart. As seen, in this embodiment, two suctiondevices 225, 226 are fastened to the mounting using a pair of slip-griptype holders 12A, 13A as already discussed above.

Turing now to FIG. 23 which is a side view of an alternate embodiment ofsuction device 12. As seen this alternate embodiment of suction device12 features a suction port 33 as already described above. Each suctionport is connected to a suction conduit 31 through a suction aperture 32as also already described above. In this embodiment, however, thesuction device further provides for the distribution of irrigation fluidonto the area of the heart where an anastomosis will be performed. Asseen, the irrigation fluid source 133 is coupled by an irrigation line134 to the irrigation fluid conduit 135. The irrigation fluid conduit,in turn, is coupled to an irrigation hose 136. As shown, irrigation hoseis designed to have some flexibility to permit it to be rotated andmoved along several angles and is preferably a braided stainless steelhose. Irrigation hose dispenses irrigation fluid at its end. Irrigationfluid preferably is a warm saline mist which prevents the exposedtissues from drying out. Moreover, the fluid is dispensed under pressuresuch that the mist has a force to it which permits the mist to be usedto blow with sufficient force to assist in holding open a coronaryartery such that the anastomosis may be performed more easily. Suctiondevice further features a return irrigation fluid circuit. As seen,return irrigation fluid circuit comprises a return irrigation port 140which is coupled to a return irrigation conduit 141. Return irrigationconduit is coupled to a suction source to provide suction to returnirrigation pipe 142 such that the irrigation fluid which is dispensedmay be readily removed from the surgical area. Although shown as anintegral part of the suction device, both the irrigation system as wellas the suction system may or may not be a part of the suction device.

FIG. 24 is a further alternate embodiment of a suction device. As seen,suction device features the suction port, suction conduit and suctionaperture as already described above. In this embodiment, however, thesuction device further features an optical fiber 150 which is coupled atone end to the area of the suction device where the anastomosis will beperformed and is further coupled to a light source 151. In this manner,the suction device may be used to provide additional light 152 to thearea where the anastomosis will be performed.

FIG. 25 is a perspective view of an alternate embodiment of animmobilizing device 11. As seen, in this embodiment, each suction deviceis coupled to a mounting beam 998 through a pair of holders 12A, 13 A asalready described above with reference to FIG. 20A. Mounting beam 998features two sections, each of which may be individually rotated aboutor spread apart or both. In particular mounting beam has a central screwmembers 997, 996. Each central screw member has an actuating knob 994,995 at an end thereof. Rotation of each knob thereby causes the suctiondevice mounted to that portion of the mounting beam to move either awayor towards the center of the mounting beam, as indicated by line 993.Mounting beam 998 is mounted to a stationary object, such as aretractor, mounting rail or fixation arm through a central arm 992. Eachsuction device may further be rotated relative to the mounting beamthrough simply moving each of the relevant devices, as indicated by thelines 991, 990. The use of mounting beam to retain suction devices is ofuse when only one fixation arm is to be used. In such a manner mountingbeam permits both device to be fixed to a stationary object as well aspermitting suction devices to be moved apart to thereby provideadditional immobilization to a local area of tissue as discussed abovewith regards to FIGS. 8–10.

FIG. 26A is a view of the bottom of an alternate embodiment of suctionpaddle 22 used in the immobilizing device As seen, paddle has a seriesof suction ports, each of which is connected to suction conduit througha suction aperture. In this embodiment, the paddle features five suctionports. The additional side suction port is presented on the side of thesuction paddle which will not be near the coronary artery or, ingeneral, the surgical target. The additional port increases the suctionsurface area. Each suction port 33 has a 6 mm diameter while eachsuction aperture 32 has a 2 mm diameter.

FIG. 26B is a perspective view of the bottom of an alternate embodimentof suction paddle 22 used in the immobilizing device. As seen in thisembodiment the paddle 22 is oriented at a ninety degree angle relativeto the neck portion 71 and arm 23. Of course paddle may also be orientedat another suitable angle other than ninety degrees relative to neckportion. In this embodiment, the paddle features four suction ports,although more or less ports may also be provided. Each suction port 33has a 6 mm diameter while each suction aperture 32 has a 2 mm diameter.

FIG. 27 is a perspective view of a turning handle 161 used to bend ororient the suction paddle 22 portion of the immobilizing device. Asdiscussed above neck 71 is fashioned to be relatively bendable, asopposed to paddle 22 and arm 23. As seen, handle 161 features opening980 having the same shape and dimension of paddle such that paddle maythus be inserted therein. Handle also features neck portion 982 and gripportion 981, Neck and grip portion are dimensioned to provide leverageagainst opening 980 and thus paddle, neck and arm. To use, paddle isinserted into opening. Once inserted manipulation of grip portionrelative to arm causes bending in the area of neck. Such a handle may beadvantageous as compared to bending of the device by hand in that itavoids the surgeon from straining hand muscles which will be needed toperform delicate manipulations.

FIG. 28 is a bottom view of an alternate embodiment of immobilizingdevice 11 As seen, immobilizing device features a pair of suctionpaddles 171, 172, each of which is coupled to an arm by a continuoushinge or neck as discussed above The arm in turn, is coupled to astationary object, also discussed above. In this embodiment, the armsare further fastened together using a spreader 180. As seen, spreader180 permits the arms to be moved relatively apart or together. Asalready discussed above, the movement of the arms apart is performedonce the paddles are engaging by suction the surface of the heart tothereby increase epicardial tension locally and thus dampen or decreasethe motion of the surface of the heart due to the intrinsic beating ofthe heart. Spreader also functions to provide additional stability topaddles due to its function as a truss-like member.

Turning to FIG. 29, spreader 180 comprises a pair of bars 181, 182 whichare coupled together using a wing nut 183. One bar features anengagement pin 184 while the other bar features an engagement slot 185.Each bar is further coupled to each of the respective arms of theimmobilizing device by a respective lumen 186, 187. In such a manner,each bar is securely coupled to each arm. By longitudinally manipulatingeach of the bars apart as shown by arrow 188, each arm and thus eachpaddle may be securely positioned relatively closer or further apart.

FIG. 30 depicts an alternate embodiment of spreader 180. As seen,spreader features a pair of bars which couple to each of the arms of arespective suction device, as described above. Bars are further coupledtogether using gearing 190. Gearing, in turn, is coupled to a motor 191As seen, motor is further coupled to a power source 192. Coupling bothmotor and power source together is a control 193. Control automaticallydetects the amount of spread within the suction devices caused byspreader. In the preferred embodiment, control senses the amount ofpower or energy required by motor to further spread spreader and thussuction paddles apart. When a threshold amount is reached, control shutsdown the source of power for motor, thereby locking the spreader in thepresent position. The feature thus permits a spreader to automaticallyspread the suction paddles apart to a degree sufficient to dampen wallmotion without permitting the spreader to spread paddles apart too muchsuch that capture of the heart wall due to suction is lost. Of course,further designs to control the spreading of suction paddles may also beused, such as other mechanical or hydraulic actuated or controlledsystems.

FIG. 31 depicts an alternate embodiment of immobilizing device and, inparticular, an alternate embodiment of the securing device used tosecure each suction paddle. As seen this system features a pair of arms351, 351 having a ball and socket construction. As seen each armfeatures at its free end a slip and grip-type holder 12A and 13A asdiscussed above. The opposite end of each arm fits into a footing 970,971. Each footing is lockable to a rail clamp unit 968, 969 which locksonto the rail 901, 902 at the side edges of table 203. Positioned at thebottom of rail clamp unit is locking actuator 967, 968. Each lockingactuator cooperates within the arm to thereby cause the arm to be lockedinto position when the respective handle is turned in one of thedirections indicated by arrows 965. In particular locking actuatorcauses a cable located with the respective arm to tighten, which, due tothe ball and socket construction thereby causes the arm to be lockedinto position. Positioned at the bottom of each locking actuator is atruss. In particular each locking actuator has fixed to it a descendingmember 216, 217, each of which are linked together by a pair ofcross-braces 218, 219. Cross-braces may or may not be coupled togetherat their center points. As can be appreciated, through this trussconstruction the stability of anchors and thus the suction devicesmounted thereto is increased, as described earlier in FIG. 20A.

FIG. 32 is a cross sectional view of an arm shown in FIG. 31, and inparticular showing a detail of the ball and socket construction. As seenonly one portion is shown to illustrate the ball and socketconstruction. Each tube 800 (several of which are used to create arm)has its end fashioned to correspond to the shape of the ball 801, thatis each relevant end of tube features a hemispherical hollow having aradius which corresponds to the outer surface of the ball such that alarger portion of the tube contacts the ball as compared to if the endof the tube were only cut straight across. This geometry increases thesurface area between the tube and each ball which thereby increases thestability of the arm when fixed into position. Each ball 801 furtherfeatures an internal bushing 802. As seen each internal bushing isshaped to have a tapered opening 803 at each end. Positioned through thelength of arm, and in particular within each tube element and ball iscable 804. Cable is preferably constructed from kevlar and features apolyurethane covering and is fastened to either end of the arm such thatby tensioning the cable the ball and tube portions are brought togetherand fixed in relation due to friction. The operation of arm is asfollows. When no tension is placed on the cable, each tube element mayslip relatively easily relative to each ball. Tension on the cable,however, increases the friction between tube and ball. Sufficienttension thereby results in the ball and tube becoming immovable relativeto each other. The taper 803 within each bushing 802 permits the cableto remain at the same length regardless of the orientation of each tubeelement and each ball. That is, if the arm is bent and has a radius ofcurvature, the taper permits the cable to remain at the same lengthregardless. This thus permits the arm to be more easily moved andthereafter locked into place.

FIG. 33 depicts a further alternate embodiment of the present invention,and in particular of a suction device substantially similar to thatshown in FIG. 13 but for that two separate sets of suction ports arelocated at the top of the suction paddle. As seen each suction line hasa stopcock 861, 862 to permit either or both sets of related suctionports to be independently disconnected from their respective suctionsource. Arm 823 contains lumens for each suction line and ends wherenecks 871, 872 begin, As discussed above, each neck is designed to bend.Suction paddle is mounted to necks and as seen features an encirclingarray of suction ports, located at the upper surface of the paddlerelative to the arm. Suction paddle features sixteen suction ports,arranged as a set of eight along one side 81 coupled to one suction lineand a second set of eight along another side 82 coupled to anothersuction line. Through this arrangement even if one side loses capturewith the tissue, because the other side is coupled to another suctionsource, pressure is not lost on that side and capture in that area ismaintained. In the embodiment shown the suction ports are located alonga generally conical planar surface at the top of the paddle, althoughother types of planar surfaces may be used, such as frusto-conical forexample. The orientation of the suction ports along the top of theencircling paddle is most useful to access the posterior or backside ofthe heart so as to move or reposition the heart to achieve better accessto areas which would otherwise be difficult to access.

To further assist in the exposure of the surgical site, accessretractors may also be used in conjunction with the immobilizing device,such as spoon shaped probes to move other tissue from the area ofsurgical interest.

FIG. 34 depicts a further alternate embodiment of the present invention,and in particular of a suction device 12 that may be used in anendoscopic procedure featuring at its distal end an arm, i.e., suctionarm 23. and a pair of tissue engaging members, i.e., suction paddles 22,each of which is coupled to a spreader means, i.e, spreader 180. Thedistal end of suction device 12 is suitably configured for deliverythrough a small, percutaneous penetration, for example a small cut,incision, stab wound, hole, port, cannula, trocar sleeve or the like.The term “trocar sleeve” appearing herein also refers to cannulae andports. Suction arm 23 of suction device 23 has a proximal end and adistal end. Although suction arm 23 is shown as having a circularcross-sectional shape, suction arm 23 may alternatively have arectangular, triangular, oval or channel cross-sectional shape. As shownin FIG. 34, suction device 12 also features a handle 310 located at itsproximal end. Suction device 12 may be coupled to a suction source 114through suction line 20 (both not shown) to suction fitting 320 locatedon handle 310. Suction paddles 22 may be rigidly coupled to spreader 180at 330, as seen in FIG. 34. Alternatively, suction paddles 22 may berotatably or pivotably coupled to spreader 180 at 330, therebypermitting suction paddles 22 to freely or controllably move or rotaterelative to spreader 180.

Spreader 180 may be rigidly coupled to suction arm 23 at 340.Alternatively, spreader may be rotatably or pivotably coupled to suctionarm 23 at 340, thereby permitting spreader 180 to freely or controllablymove or rotate relative to suction arm 23. As seen in FIG. 34, in thisembodiment of the invention, spreader 180 may be controllably movedrelative to suction arm 23 since spreader 180 is coupled to suction arm23 via remotely actuable linkage 350. Actuator knob 360 on handle 310 isused to remotely and controllably actuate linkage 350. Knob 360 is fixedto rod 370. The proximal end of rod 370 is threaded at 380 so that rod370 mates with a threaded inner bore (not shown) within handle 310.Rotation of knob 360 moves knob 360 and rod 370 in an axial directionwith respect to suction arm 23.

As seen in FIGS. 35 and 36 which are longitudinal cross-sectional viewsof the distal end of suction device 12, linkage 350 compriseslongitudinal rod 390 slidably disposed within suction arm 23 and a link380 having a first and second ends 381, 382. The proximal end of rod 390(not shown) is connected to the distal end of rod 370 within handle 310.Linkage 350 further comprises a coupling member 383 which has abifurcated proximal end with first and second coupling points 384 and385. First end 381 of link 380 is coupled to the distal end of rod 390and second end 382 of link 380 is coupled to coupling member 383 atcoupling point 385. Suction arm 23 has an angled opening 400 (as seen inFIGS. 34, 35 and 36) at its distal end to allow spreader 180 to pivotinto an orientation transverse to suction arm 23. Second coupling point384 of coupling member 383 is pinned to distal end of suction arm 23 toform a pivot point 410. Spreader 180 which is connected to couplingmember 383 will therefore pivot about a transverse axis through pivotpoint 410.

In the above described configuration, rotation of knob 360 moves rod 370in an axial direction with respect to suction arm 23. Axial movement ofrod 370 causes rod 390 to also move in an axial direction with respectto suction arm 23. Movement of rod 390 in the axial direction withrespect to suction arm 23 controllably pivots spreader 180 and suctionpaddles 22 about pivot point 410, thereby allowing a surgeon to remotelycontrol the orientation of suction paddles 22 relative to suction arm23. Note that handle 310 may alternatively include another type ofactuator mechanism to remotely control linkage 350, for example, aplunger mechanism, a pair of scissor-type handles, a lever mechanism, ora slidable button within a longitudinal slot. The actuator mechanism maybe, for example, voice-activated comprising voice-recognitiontechnologies. A visual and/or audible signal, such as a flashing lightand/or beeping tone, may be incorporated to alert a surgeon to thecompletion or resumption of the actuator. Linkage 350 may be slaved to arobotic system which may include, for example, head-mounted displayswhich integrate 3-D visualization of surgical anatomy and relateddiagnostic and monitoring data, miniature high resolution 2-D and 3-Ddigital cameras, a computer, a high power light source and a standardvideo monitor.

Referring again to FIGS. 35 and 36, suction paddles 22 are shown in thisembodiment to comprise a series of three suction ports 33 each of whichis connected in fluid communication to suction conduit 31 throughsuction aperture 32. Note that the exact number, position and/or size ofsuction ports 33 may vary. Each suction conduit 31 is connected in fluidcommunication to suction lumen 30 located within suction arm 23 througha separate suction line 72. Suction lumen 30 is connected in fluidcommunication to suction fitting 320 located on handle 310. Therefore,when suction fitting 320 is connected to a suction source 114 throughsuction line 20 (both not shown), suction is created in suction ports33. Note that suction device 12 may include a suction controller, forexample, handle 310 may include a suction controller (not shown) tocontrol the amount of suction at suction ports 33. Suction controllermay be, for example, a valve. Suction controller may also be, forexample, voice-activated comprising voice-recognition technologies. Avisual and/or audible signal, such as a flashing light and/or beepingtone, may be incorporated to alert a surgeon to the completion orresumption of suction. Suction controller may be slaved to a roboticsystem which may include, for example, head-mounted displays whichintegrate 3-D visualization of surgical anatomy and related diagnosticand monitoring data, miniature high resolution 2-D and 3-D digitalcameras, a computer, a high power light source and a standard videomonitor.

In this embodiment, suction paddles 22, suction ports 33, suctionapertures 32 and suction conduits 31 are all generally similar to thosepreviously described. Suction device 12 may be constructed such thateach suction paddle 22 and/or each suction port 33 is coupled to aseparate suction source allowing them to be independently disconnectedfrom their respective suction source or suction device 12 may beconstructed such that each suction paddle 22 and/or each suction port 33is coupled to the same suction source, as described in this embodiment.

In FIGS. 35 and 36, suction paddles 22 are shown to have a surface whichcontacts a heart slightly curved such that the surface will conformgenerally to the curvature of the heart. Heart contacting surfaces ofsuction paddles 22 may also be generally planar. The heart contactingsurfaces of suction paddles 22 may have a separate contact layer tocushion the contact between the paddles and the heart tissue and tofacilitate forming a tight seal when suction is applied. The contactlayer may cover substantially the entire bottom surface proximate to theopenings of the suction ports. The contact layer may comprise of one ormore materials, for example, commercially available polymers, such assilicon or polyurethane, which are pliable and biocompatible may beused. In addition, one or more radioactive materials and/or biologicalagents such as, for example, an anticoagulant agent, an antithromboticagent, a clotting agent, a platelet agent, an anti-inflammatory agent,an antibody, an antigen, an immunoglobulin, a defense agent, an enzyme,a hormone, a growth factor, a neurotransmitter, a cytokine, a bloodagent, a regulatory agent, a transport agent, a fibrous agent, aprotein, a peptide, a proteoglycan, a toxin, an antibiotic agent, anantibacterial agent, an antimicrobial agent, a bacterial agent orcomponent, hyaluronic acid, a polysaccharide, a carbohydrate, a fattyacid, a catalyst, a drug, a vitamin, a DNA segment, a RNA segment, anucleic acid, a lectin, an antiviral agent, a viral agent or component,a genetic agent, a ligand and a dye (which acts as a biological ligand)may also be used.

It should be understood that suction paddles 22, i.e., tissue engagingmembers, may comprise a variety of shapes and configurations so long asthey have a relatively rigid portion with a contact or coupling surfacesuitable for engaging tissue. In fact, in this embodiment of suctiondevice 12 comprising spreader means 180, friction paddles may be used inplace of suction paddles. Friction paddles may also be rigidly,rotatably or pivotably coupled to spreader 180. Friction paddles mayhave a contact or coupling surface suitable for engaging tissuefrictionally, for example, the contact surface may comprise a roughsurface. Further, in this embodiment of suction device 12 comprisingspreader 180, adhesive paddles may be used in place-of suction paddles.Adhesive paddles may also be rigidly, rotatably or pivotably coupled tospreader 180. Adhesive paddles may have a contact or coupling surfacesuitable for engaging tissue adhesively, for example, the contactsurface may comprise a tissue adhesive.

FIG. 37 is a bottom view of spreader 180 with coupled suction paddles 22in a non-spread position, whereas FIG. 38 is a bottom view of spreader180 with coupled suction paddles 22 in a spread position. As seen inFIGS. 37 and 38, in this embodiment of the invention, suction paddles 22are attached to spreader 180 such that suction paddles 22 are orientedparallel to each other. Cable 430 extends between spreader 180 andhandle 310 through suction arm 23. The proximal end of cable 430 isconnected to actuator lever 420 on handle 310. The distal end of cable430 is connected to spreader 180. Lever 420 is used to remotely andcontrollably actuate spreader 180 as described below.

As shown in FIGS. 37 and 38, cable 430 passes through anchor 440 and iscoupled to slide 450 which is slidably coupled to anchor 440. Cable 430may be made of stainless steel. Referring to FIGS. 39 and 40, plan viewsof spreader members 460, 470 are shown with a suction paddle 22 rigidlycoupled to each at 330. As previously discussed, suction paddles 22 maybe rigidly coupled to spreader members 460, 470 at 330 or,alternatively, suction paddles 22 may be rotatably or pivotably coupledto spreader members 460, 470 at 330, thereby permitting suction paddles22 to move or rotate relative to spreader members 460, 470. Spreadermembers 460, 470 include first, second and third slots 471, 472, 473with the second slot 472 being oriented substantially perpendicular tothe suction paddles 22. The second slot 472 of spreader members 460, 470are aligned so that a pin passing through the second slots 472 helpsmaintain suction paddies 22 parallel to one another throughout movementbetween a non-spread and a spread position. The first and third slots471, 473 of each of spreader members 460, 470 are parallel to oneanother and oriented 45 degrees relative to the suction paddles 22.Referring to FIG. 37, first, second and third pins 475, 476,477 passthrough the first, second and third slots 471, 472, 473.

Referring to FIGS. 41 and 42, side and plan views of slide 450 areshown. Slide 450 includes throughhole 480 for receiving cable 430. Thedistal end of cable 430 preferably has an anchor (not shown) whichprevents withdrawal of cable 430 through throughhole 480. Slide 450includes first and second holes 481, 482 extending through first andsecond sides 483, 484. The first and third pins 475, 477 extend throughfirst and second holes 481, 482 of slide 450 and first and third slots471, 473 of spreader members 460, 470 for moving spreader members 460,470 when slide 450 is moved. Slide 450 also includes grooves 490extending between the first and second holes 481, 482.

Referring to FIGS. 43 and 44, side and plan views of anchor 440 areshown. Anchor 440 includes central guides 500 which are positioned ingrooves 490 of slide 450. Central guides 500 and grooves 490 cooperateto help maintain the linearly slidable relationship between slide 450and anchor 440. Central guides 500 also include holes 501 therethroughfor receiving the second pin 476 which extends through second slots 472in spreader members 460, 470. Anchor 440 includes throughhole 502 forreceiving cable 430. Proximal end 510 of anchor 440 includes four arms515, three of which are shown in FIGS. 43 and 44, which extend betweencentral guides 500 and proximal end 510. Referring again to FIG. 35,anchor 440 of spreader 180 is connected to coupling member 383 oflinkage 350.

Referring to FIGS. 34 and 45, actuation of lever 420, comprising aslidable member 600 within a longitudinal slot 610 in handle 310,controllably moves cable 430 and slide 450 proximally relative tosuction arm 23. Cable 430 is connected to the end of slidable member 600within handle 310. Actuation of lever 420 causes the slidable member 600to move cable 430 and slide 450 proximally relative to suction arm 23.Movement of cable 430 and slide 450 in a proximal direction relative tosuction arm 23 moves suction paddles 22 into a non-spread position asshown in FIGS. 37 and 45. The pin and slot configuration of spreadermembers 460, 470, slide 450 and anchor 440 cause spreader members 460,470 to move suction paddles 22 parallel to one another as shown in FIGS.34 and 38. Lever 420 includes a spring (not shown) to provide a biasingforce to keep lever 420 in a non-actuated position and suction paddles22 in a spread position as shown in FIG. 34.

Although, in this embodiment both suction paddles 22 are seen movablebetween the non-spread position of FIG. 37 and the spread position ofFIG. 38, spreader 180 may also be configured with only one suctionpaddle 22 being movable. In addition, handle 310 may alternativelyinclude another type of actuator mechanism to remotely control spreader180, for example, a knob, a plunger mechanism, a pair of scissor-typehandles, or a slidable button within a longitudinal slot. The actuatormechanism may be, for example, voice-activated comprisingvoice-recognition technologies. A visual and/or audible signal, such asa flashing light and/or beeping tone, may be incorporated to alert asurgeon to the completion or resumption of the actuator. Spreader 180may be slaved to a robotic system which may include, for example,head-mounted displays which integrate 3-D visualization of surgicalanatomy and related diagnostic and monitoring data, miniature highresolution 2-D and 3-D digital cameras, a computer, a high power lightsource and a standard video monitor. As previously discussed, spreader180 may be coupled to gearing, which in turn, is coupled to a motor. Themotor is further coupled to a power source. The motor and power sourcewhich may be used together are coupled to a controller which detects andcontrols the amount of spread or area between the suction paddles. Ofcourse, further designs to control the spreading of suction paddles mayalso be used, such as other mechanical or hydraulic activated orcontrolled systems.

In FIG. 46, an alternate embodiment of suction device 12 is shown. Inthis embodiment, the distal end of suction arm 23 comprises two remotelyactuated variable linkages or joints, as seen linkage 350 and joint 800.Suction arm 23 may include, for example, a plurality of remotelyactuable variable joints such as elbows, wrists, hinges, linkages and/orball and sockets, as is well known in the art. See for example, U.S.Pat. No. 5,374,277 of Hassler, again incorporated herein by reference.FIG. 47 is a side view of joint 800. As seen in FIGS. 46 and 47, joint800 pivots at pivot point 810 which may comprise a pin. Joint 800 may beremotely actuable via cables (not shown) extending between joint 800 andhandle 310 (not shown) through suction arm 23. The distal end of thecables would be connected to joint 800. The proximal end of the cableswould be connected to an actuator mechanism (not shown) on arm orhandle. The actuator mechanism used to remotely control joint 800 maybe, for example, a knob, a lever mechanism, a plunger mechanism, a pairof scissor-type handles, or a slidable button within a longitudinalslot. The actuator mechanism may be, for example, voice-activatedcomprising voice-recognition technologies. A visual and/or audiblesignal, such as a flashing light and/or beeping tone, may beincorporated to alert a surgeon to the completion or resumption of theactuator. Joint 800 may be slaved to a robotic system which may include,for example, head-mounted displays which integrate 3-D visualization ofsurgical anatomy and related diagnostic and monitoring data, miniaturehigh resolution 2-D and 3-D digital cameras, a computer, a high powerlight source and a standard video monitor.

As described earlier, suction device 12 may include additional features,for example, an irrigation means for providing a distribution ofirrigation fluid onto the area of the heart where the surgical procedurewill be performed. Suction device 12 may feature a light means toprovide light to where the surgical procedure will be performed, forexample, via an optical fiber coupled to a remote light source. Suctiondevice 12 may feature a suture securing or retaining means, such as asuture coil or a plurality of slots formed in the upper surfaces ofsuction paddles 22. Suction device 12 may feature one or moreelectrodes, a cutting means or a visual means.

FIG. 48 is a cross-sectional view of a body showing one method ofachieving access to a surface of the heart and using the presentinvention to immobilize an area of tissue. As seen suction device 12 issized to fit appropriately within a trocar sleeve. Preferably the trocarsleeve has an internal diameter of about 15 mm or less. In addition,suction device 12 has a length selected to reach a target site, such asa heart or other organ, in a body cavity, such as the thoracic cavity orabdomen, and to extend sufficiently out of the body cavity to facilitateeasy manipulation and securing of the device. A trocar sleeve, port orcannula may be positioned in a percutaneous intercostal penetration.Suction device 12 may be sized appropriately to be introduced through asmall cut, incision, stab wound, hole, port, cannula, trocar sleeve orthe like, for example, through the chest wall between two adjacent ribswhich does not require cutting, removing, or significantly, displacingor retracting the ribs or sternum. Usually, a percutaneous intercostalpenetration will require a puncture or incision of less than about 5 cmin length. Additional ports, cannulae or surgical trocars may beintroduced to permit additional suction devices to be introduced or topermit endoscopy and surgical access to heart 1. Usually, trocar sleeveswill be positioned within intercostal spaces in the left lateral chestof the patient, generally within the second, third, fourth, fifth, sixthor seventh intercostal spaces. In addition the left lung 79 may bepartially collapsed so as to provide an unencumbered area in which tomanipulate surgical instruments.

To introduce this embodiment of suction device 12 through a small cut,incision, stab wound, hole, port, cannula or trocar sleeve or the like,a surgeon would first use actuator knob 360 on handle 310 to pivotsuction paddles 22 about a transverse axis so that the paddles areoriented generally parallel to suction arm 23. Next, the surgeon wouldfully actuate lever 420 on handle 310, as shown in FIG. 45, therebycausing spreader 180 to move suction paddles 22 together into a fullynon-spread position. The distal-end of suction device 12, includingsuction paddles 22 and spreader 180, may then be introduced into thebody cavity such as the chest through, for example a trocar sleeve asshown in FIG. 48. After suction paddles 22 and spreader 180 have passedthrough a trocar sleeve 78 and into the body cavity, spreader 180 may beactuated to allow suction paddles 22 to partially or fully spread apartin a parallel orientation to each other, thereby creating a gap betweensuction paddles 22. If additional spreading of suction paddles 22 isdesired following their engagement to heart tissue then spreader 180 maybe partially actuated at this time. If no additional spreading ofsuction paddles 22 is desired following their engagement to heart tissuethen spreader 180 may be allowed to fully spread suction paddles 22, asshown in FIG. 34, at this time.

After suction paddles 22 and spreader 180 have passed into the bodycavity and suction paddles 22 have been partially or fully spread apart,a surgeon may use actuator knob 360 on handle 310 to pivot suctionpaddles 22 about a transverse axis (see FIGS. 35 and 36) so that theircontact surfaces are oriented generally parallel to the area in whichtemporary immobilization of the heart tissue is desired. For example,the surgeon may pivot the paddles upwards with respect to suction arm(see FIG. 35) and push suction device in the distal direction to placeat least portions of paddles against the heart surface. If the tissuesurface has a different orientation, e.g., facing away from the surgeon,the surgeon may pivot the paddles downwards (see FIG. 36) with respectto suction arm and pull suction device in the proximal direction toplace at least portions of paddles against the heart surface.Alternatively a surgeon may change the orientation of the paddles priorto spreading of the paddles.

Suction paddles generally are placed in the area in which temporaryimmobilization of the heart tissue is desired. When used for a coronaryartery bypass graft procedure, suction paddles are generally placed suchthat the target coronary artery is positioned between the paddles, i.e.,one paddle is placed on each side of the artery. Once suction paddlesare placed, suction is then created in suction ports. Through thesuction, the device then is fixed to or grabs hold of the heart tissue.Once the suction is created and the paddles are secured to the hearttissue, the paddles may again be spread slightly further apart if theyhad been only partially spread prior to placement. The effect of thisfurther spreading in a parallel orientation after the paddles have beensecured or engaged to the heart tissue is to cause an even tension to becreated in the area of the heart tissue between the paddles. Thisincrease in epicardial tension further immobilizes the area by dampeningor decreasing the motion due to the intrinsic beating of the heart inthe area of the heart tissue between the paddles. In addition, thespreading apart of paddles after they have been secured or engaged tothe heart tissue helps to increase exposure of the target coronaryartery.

If friction paddles are used instead of suction paddles, once paddleshave been placed, for example, on each side of the target coronaryartery, a force may be used to engage friction paddles to the hearttissue as opposed to using suction to engage suction paddles to theheart tissue. Once friction paddles have been secured or engaged to theheart tissue they may be further spread as discussed above.

Referring again to FIG. 48, once paddles 22 are suitably positioned andengaged to the heart tissue, suction device 12 may be clamped or securedby a securing device 14 to a stationary object or stable support, suchas operating table 16 to fix the position of suction arm 23 relative tothe beating heart. Alternatively, suction device 12 may be secured to amounting rail 999 or a mounting 224 as discussed previously or to astationary rib retractor, trocar sleeve, cannula or port that is fixedto the patient's chest and does not move relative to the beating heart.For example, suction device 12 may be introduced through a lockingcannula or trocar sleeve that is fixed to a patient's chest and thatwill clamp onto suction device 12, thereby securing its position withrespect to the beating heart. Suction device 12 may be secured to astable object using a variety of methods, for example, a clamp, a screw,a wing nut, a slip and grip-type holder or a lockable footing which inturn locks onto a rail. Slip and grip-type holders and lockable footingsare previously discussed.

Once the paddles are suitably secured, positioned and engaged to theheart tissue thereby temporarily immobilizing the area of tissue, thecoronary artery in that area, for example, may be operated upon. Theanastomosis of the coronary artery may be accomplished through anyacceptable end-to-end, end-to-side or side-to-side technique, forexample manual suturing. In addition, other methods of performing theanastomosis may be used, for example, tissue-bonding techniques such astissue adhesives and laser welding of tissue may be used. Mechanicalanastomotic devices including stapling devices, clipping devices, ringand pin coupling devices and suturing devices may also be used. Theseanastomotic devices may be automated or semi-automated Mechanicalcouplers including stents, ferrules, and/or rings may also be used toform an anastomosis. Materials used to form an anastomosis via amechanical device and/or coupler may be biocompatible, bioabsorbable,bioactive and/or bioinert. Following completion of the surgicalprocedure, e.g., the anastomosis, the paddles are disengaged from theheart surface, positioned in a non-spread configuration and aligned witharm, see FIG. 45 The suction device is unsecured from the stationaryobject and removed from the patient's body

It should be understood that the present invention may be used inconjunction with a conventional thoracotomy and in various surgicalprocedures including throascopic, laparoscopic, and arthroscopicprocedures as well as in conventional open heart surgical procedures.The invention is also useful for repositioning an organ in a body cavityto facilitate a surgical procedure. As discussed earlier, a suctiondevice comprising a remotely controllable spreader means is particularlyuseful in minimally-invasive and endoscopic procedures.

FIG. 49 depicts a further alternate embodiment of the present invention,and in particular of a suction device that may be used in an endoscopicprocedure, as described earlier, featuring at its distal end a suctionarm 23 and a pair of suction paddles 22, each of which is coupled to aspreader 180. The distal end of the suction device is suitablyconfigured for delivery through a small, percutaneous penetration, forexample a small cut, incision, stab wound, hole, port, cannula, trocarsleeve or the like. Suction arm 23 of the suction device has a proximalend (not shown) and a distal end (as shown in FIGS. 49, 50 and 51). Inthis embodiment suction arm 23 has a circular cross-sectional shape,however suction arm 23 may alternatively have a rectangular, triangular,oval or channel cross-sectional shape. The suction device may feature ahandle (not shown) located at the proximal end of suction arm 23. Aspreviously discussed, the suction device may be coupled to a suctionsource through a suction line to a suction fitting located on the arm orhandle. For an example of a suitable suction device handle, see FIG. 34Referring again to FIGS. 49, 50 and 51, suction paddles 22 are shownpivotably coupled to spreader 180 at pivot points 901, 902, 903 and 904,each comprising pins.

Spreader 180 may be rigidly coupled to suction arm 23 at 340.Alternatively, spreader may be rotatably or pivotably coupled to suctionarm 23 at 340, thereby permitting spreader 180 to freely or controllablymove or rotate relative to suction arm 23. As seen in FIG. 49, in thisembodiment of the invention, spreader 180 may be controllably movedrelative to suction arm 23 since spreader 180 is coupled to suction arm23 via remotely actuable joint 800. In this embodiment, the distal endof suction arm 23 is shown to comprise one remotely actuated linkage orjoint 800. However, suction arm 23 may include, for example, a pluralityof remotely actuable variable joints, elbows, wrists, hinges, linkagesand/or ball and sockets, as is well known in the art. See for example,U.S. Pat. No. 5,374,277 of Hassler, again incorporated herein byreference. FIG. 47 is a side view of joint 800. As seen in FIG. 47, 49,50 and 51, joint 800 pivots at pivot point 810 which may comprise a pin.Joint 800 may be remotely actuable via cables (not shown) extendingbetween joint 800 and a handle (not shown) through suction arm 23. Thedistal end of the cables would be connected to joint 800. The proximalend of the cables would be connected to an actuator mechanism (notshown) on the arm or handle. The actuator mechanism used to remotelycontrol joint 800 may be, for example, a knob, a lever mechanism, aplunger mechanism, a pair of scissor-type handles, or a slidable buttonwithin a longitudinal slot in handle. The actuator mechanism may be, forexample, voice-activated comprising voice-recognition technologies. Avisual and/or audible signal, such as a flashing light and/or beepingtone, may be incorporated to alert a surgeon to the completion orresumption of the actuator. Joint 800 may be slaved to a robotic systemwhich may include, for example, head-mounted displays which integrate3-D visualization of surgical anatomy and related diagnostic andmonitoring data, miniature high resolution 2-D and 3-D digital cameras,a computer, a high power light source and a standard video monitor.

Suction paddles 22 in this embodiment comprise a series of two suctionports each of which is connected in fluid communication to a suctionconduit through suction aperture (not shown). Note that the exactnumber, position and/or size of suction ports may vary. Each suctionconduit is connected in fluid communication to a suction lumen (notshown) located within suction arm 23 through a separate suction line(not shown). The suction lumen within arm 23 would be connected in fluidcommunication to a suction fitting located on the arm or handle (bothnot shown). Therefore, when the suction fitting is connected to asuction source through a suction line (both not shown), suction would becreated in the suction ports. Note that the suction device may include asuction controller to control the amount of suction at the suctionports. Suction controller may be, for example, a valve. Suctioncontroller may also be, for example, voice-activated comprisingvoice-recognition technologies. A visual and/or audible signal, such asa flashing light and/or beeping tone, may be incorporated to alert asurgeon to the completion or resumption of suction. Suction controllermay be slaved to a robotic system which may include, for example,head-mounted displays which integrate 3-D visualization of surgicalanatomy and related diagnostic and monitoring data, miniature highresolution 2-D and 3-D digital cameras, a computer, a high power lightsource and a standard video monitor.

In this embodiment, suction paddles, suction ports, suction aperturesand suction conduits are all generally similar to those previouslydescribed. In addition, the suction device may be constructed such thateach suction paddle and/or each suction port is coupled to a separatesuction source allowing them to be independently disconnected from theirrespective suction source or the suction device may be constructed suchthat each suction paddle and/or each suction port is coupled to the samesuction source, as described in this embodiment.

FIG. 49 is a top view of spreader 180 with coupled suction paddles 22 ina non-spread position, whereas FIG. 50 and 51 are top views of spreader180 with coupled suction paddles 22 in a partially spread position and afully spread position, respectively. As seen in FIGS. 49, 50 and 51, inthis embodiment of the invention, suction paddles 22 are attached tospreader 180 such that suction paddles 22 are oriented generallyparallel to each other. A cable (not shown) would extend betweenspreader 180 and an actuator mechanism located at the proximal end ofsuction arm 23. The proximal end of the cable would be connected to anactuator mechanism located on the arm or handle. The distal end of cablewould be connected to spreader 180. An actuator mechanism may be used toremotely and controllably actuate spreader 180.

The actuator mechanism may be, for example, a knob, a lever mechanism, aplunger mechanism, a pair of scissor-type handles, or a slidable buttonwithin a longitudinal slot in handle. The actuator mechanism may be, forexample, voice-activated comprising voice-recognition technologies. Avisual and/or audible signal, such as a flashing light and/or beepingtone, may be incorporated to alert a surgeon to the completion orresumption of the actuator. Spreader 180 may be slaved to a roboticsystem which may include, for example, head-mounted displays whichintegrate 3-D visualization of surgical anatomy and related diagnosticand monitoring data, miniature high resolution 2-D and 3-D digitalcameras, a computer, a high power light source and a standard videomonitor.

The cable (not shown) may be made of stainless steel. The distal end ofthe cable would be attached to spreader member 915 of spreader 180.Spreader member 915 is pivotably coupled to suction paddles 22 at pivotpoints 901, 904. Spreader member 915 also comprises a pin at 910 thatfits slidably into longitudinal slot 921 of anchor member 920. Anchormember 920 of spreader 180 is pivotably coupled to suction paddles 22 atpivot points 902, 903. Anchor member 920 is also coupled to joint 800 at340.

As shown in FIGS. 49, 50 and 51, spreader 180 maintains suction paddles22 parallel to one another throughout movement between a non-spread anda spread position. Controllably moving spreader member 915 distallyrelative to anchor member 920, for example via a cable, will movesuction paddles into a non-spread position as shown in FIG. 49.Controllably moving spreader member 915 proximally relative to anchormember 920 will move suction paddles into a fully spread position asshown in FIG. 51. The pin and slot configuration of spreader member 915and anchor member 920 allows spreader 180 to controllably move suctionpaddles 22 parallel to one another as shown in FIGS. 49, 50 and 51. Inaddition, handle 310 may alternatively include another type of actuatormechanism to remotely control spreader 180, for example, a knob or aplunger. Although, in this embodiment both suction paddles 22 are seenmovable between the non-spread position of FIG. 49 and the spreadposition of FIG. 51, spreader 180 may also be configured with only onesuction paddle 22 being movable. A spreader 180 wherein only one suctionpaddle moves relative to the other is shown in FIGS. 52 and 53.

Another embodiment of the distal end of suction arm 23, is shown inFIGS. 52 and 53. The distal end of suction arm 23 comprises two remotelyactuated variable joints 800 which pivot about pins at pivot points 810.Joints 800 may be remotely actuable via cables (not shown) extendingbetween joints 800 and a handle (not shown) through suction arm 23. Thedistal end of the cables would be connected to joints 800. The proximalend of the cables would be connected to one or more actuator mechanisms(not shown) on the arm or handle. The actuator mechanism used toremotely control a joint 800 may be, for example, a knob, a levermechanism, a plunger mechanism, a pair of scissor-type handles, or aslidable button within a longitudinal slot in handle. The actuatormechanism may be, for example, voice-activated comprisingvoice-recognition technologies. A visual and/or audible signal, such asa flashing light and/or beeping tone, may be incorporated to alert asurgeon to the completion or resumption of the actuator. Joint 800 maybe slaved to a robotic system which may include, for example,head-mounted displays which integrate 3-D visualization of surgicalanatomy and related diagnostic and monitoring data, miniature highresolution 2-D and 3-D digital cameras, a computer, a high power lightsource and a standard video monitor. Joint 800 may be locked intoposition, for example, via tube 802 located within arm 23. Pushing tube802 distally against joint 800, thereby applying pressure to joint 800,locks joint 800 into position. The actuator mechanism used to remotelycontrol the movement of tube 802 may be, for example, a knob, a levermechanism, a plunger mechanism, a pair of scissor-type handles, or aslidable button within a longitudinal slot in handle. In addition, tube802 may be used as a suction lumen located within suction arm 23 forproviding suction to suction ports 33.

As shown in FIGS. 52 and 53, suction paddles 22 are shown rigidlycoupled to spreader 180 at 330. Spreader 180 may be controllably movedrelative to suction arm 23 since spreader 180 is coupled to suction arm23 via the two remotely actuable joints 800. FIG. 52 is a top view ofspreader 180 with coupled suction paddles 22 in a non-spread position,whereas FIG. 53 is a top view of spreader 180 with coupled suctionpaddles in a fully spread position In this embodiment of the invention,suction paddles 22 are attached to spreader 180 such that suctionpaddles 22 are oriented generally parallel to each other. Cable 931extends between spreader 180 and an actuator mechanism (not shown) thatwould be located at the proximal end of suction arm 23. The proximal endof the cable would be connected to an actuator mechanism located on thearm or handle. The distal end of cable is connected to spreader 180. Anactuator mechanism may be used to remotely and controllably actuatespreader 180.

Cable 931 may be made of stainless steel. The distal end of the cablewould be attached to spreader member 950 of spreader 180. Spreadermember 950 is pivotably coupled to the distal end of spreader member 932at pivot point 936 and to the distal end of spreader member 933 at pivotpoint 937. The proximal end of spreader member 932 is pivotably coupledto spreader member 951 at pivot point 934. The adjacent sides ofspreader members 932 and 933 may be designed to engage or interlock withone another when they are in direct contact, for example when spreaderis in a spread position. Spreader member 932, for example, may include agroove or slot that spreader member 933 will fit or slide into. Theinterlocking of spreader members 932 and 933 provides increasedstrength. The proximal end of spreader member 933 is pivotably coupledto spreader member 951 at pivot point 935. Spreader member 951 iscoupled to the most distal joint 800 of suction arm 23. Spreader 180 mayinclude a spring to provide a biasing force to position suction paddlesin a non-spread overlapping position as shown in FIG. 52 when spreader180 is not actuated. Moving cable 931 in a proximal position relative tosuction arm 23 will force suction paddles into a parallel spreadposition as shown in FIG. 53.

The actuator mechanism for remotely controlling spreader 180 may be, forexample, a knob, a lever mechanism, a plunger mechanism, a pair ofscissor-type handles, or a slidable button within a longitudinal slot.The actuator mechanism may be, for example, voice-activated comprisingvoice-recognition technologies. A visual and/or audible signal, such asa flashing light and/or beeping tone, may be incorporated to alert asurgeon to the completion or resumption of the actuator. Spreader 180may be slaved to a robotic system which may include, for example,head-mounted displays which integrate 3-D visualization of surgicalanatomy and related diagnostic and monitoring data, miniature highresolution 2-D and 3-D digital cameras, a computer, a high power lightsource and a standard video monitor. As previously discussed, spreader180 may be coupled to gearing, which in turn, is coupled to a motor. Themotor is further coupled to a power source. The motor and power sourcewhich may be used together are coupled to a controller which detects andcontrols the amount of spread or area between the suction paddles. Ofcourse, further designs to control the spreading of suction paddles mayalso be used, such as other mechanical or hydraulic activated orcontrolled systems.

Another embodiment of suction arm 23, is shown in FIGS. 54 and 55. Atleast a portion of suction arm 23 comprises a plurality of flexible,lockable interconnecting links thereby allowing it to be positioned inevery direction until the desired configuration is achieved at whichpoint the flexible arm may be locked into a fixed configuration by anactuator mechanism attached to the proximal end of cable 965. Cable 965runs axially through the interconnecting links of suction arm 23 and iscoupled to spreader 180. FIG. 54 is a bottom view of spreader 180 withcoupled suction paddles 22 in a non-spread position, whereas FIG. 55 isa bottom view of spreader 180 with coupled suction paddles in a fullyspread position. In this embodiment of the invention, suction paddles 22are attached to spreader 180 such that suction paddles 22 are orientedgenerally parallel to each other. Cable 936 extends between spreader 180and an actuator mechanism (not shown) that would be located at theproximal end of suction arm 23 The proximal end of the cable would beconnected to an actuator mechanism located on the arm or handle. Anactuator mechanism is used to remotely and controllably actuate spreader180. The actuator mechanism may be, for example, a knob, a levermechanism, a plunger mechanism, a pair of scissor-type handles, or aslidable button within a longitudinal slot in handle. The actuatormechanism may be, for example voice-activated comprisingvoice-recognition technologies. A visual and/or audible signal, such asa flashing light and/or beeping tone, may be incorporated to alert asurgeon to the completion or resumption of the actuator. Spreader 180may be slaved to a robotic system which may include, for example,head-mounted displays which integrate 3-D visualization of surgicalanatomy and related diagnostic and monitoring data, miniature highresolution 2-D and 3-D digital cameras, a computer, a high power lightsource and a standard video monitor.

The distal end of cable 965 is connected to spreader 180. The cable maybe made of stainless steel. The distal end of cable 965 is anchored toslide 960 of spreader 180 using cable anchor 966. The distal end ofslide 960 is pivotably coupled to the proximal ends of spreader members963, 964, 965, 966 at pivot points 967, 968 both comprising pins. Thedistal ends of spreader members 963, 964, 965, 966 are, in turn,pivotably coupled to suction paddles 22 at pivot points 969, 970, 971,972 which all comprise pins. The adjacent sides of spreader members 963and 964 may be designed to engage or interlock with one another whenthey are in direct contact, for example when spreader is in a spreadposition. Spreader member 963, for example, may include a groove or slotthat spreader member 964 will fit or slide into. The interlocking ofspreader members 963 and 964 provides increased strength. The adjacentsides of spreader members 965 and 966 may also be designed to engage orinterlock with one another when they are in direct contact again, forexample when spreader is in a spread position. Spreader member 965, forexample, may include a groove or slot that spreader member 966 will fitor slide into. The interlocking of spreader members 965 and 966 providesincreased strength. Slide 960 is slidably coupled to anchor 961. Slide960 is also slidably coupled to wedge 973 Wedge 973 is rigidly coupledto anchor 961 via spreader member 962.

When no tension is placed on cable 965 attached to spreader 180 andrunning through the length of suction arm 23, the paddles are in anon-spread, overlapping position, as shown in FIG. 54, and the arm isrelatively flexible within the region of the interconnecting links. Itis in this configuration that the suction device is suitable forendoscopic delivery as discussed previously, for example through atrocar access. The arm may comprise cables for remotely controlling itsorientation. Following endoscopic delivery, tension is applied to cable965, i.e., the cable moves proximally relative to suction arm 23,causing the paddles to spread apart in a parallel orientation as shownin FIG. 55. The distance between suction paddles 22 is controllable bythe movement of cable 965. Once the paddles have been generally placedin the area in which temporary immobilization of the heart tissue isdesired, suction is applied to secure the paddles to the heart tissue.Once suction is created and the paddles are secured to the heart tissue,the paddles are again spread slightly further apart in a parallelorientation by moving or pulling the cable further in the proximaldirection which also locks the arm in place. The further spreading ofthe paddles after the paddles have been secured or engaged to the hearttissue is to cause an even tension to be created in the area of theheart tissue between the paddles. This increase in epicardial tensionfurther immobilizes the area by dampening or decreasing the motion dueto the intrinsic beating of the heart in the area of the heart tissuebetween the paddles. In addition, the spreading apart of paddles afterthey have been secured or engaged to the heart tissue helps to increaseexposure of the target coronary artery.

Referring again to FIGS. 54 and 55, suction paddles 22 are shown in thisembodiment to comprise a two suction ports 33 each of which is connectedin fluid communication to a suction conduit through a suction aperture(both not shown). Note that the exact number, position and/or size ofsuction ports 33 may vary. Each suction conduit is connected in fluidcommunication to a suction line 72 which, in this embodiment, is shownto run along the outer surface of suction arm 23. Therefore, whensuction lines 72 are connected to a suction source (not shown), suctionis created in suction ports 33. Note that the suction device may includea suction controller, for example, a valve. Suction controller may alsobe, for example, voice-activated comprising voice-recognitiontechnologies. A visual and/or audible signal, such as a flashing lightand/or beeping tone, may be incorporated to alert a surgeon to thecompletion or resumption of suction. Suction controller may be slaved toa robotic system which may include, for example, head-mounted displayswhich integrate 3-D visualization of surgical anatomy and relateddiagnostic and monitoring data, miniature high resolution 2-D and 3-Ddigital cameras, a computer, a high power light source and a standardvideo monitor.

In this embodiment, suction paddles 22, suction ports 33, suctionapertures and suction conduits are all generally similar to thosepreviously described. As shown in this embodiment, the suction device isconstructed such that each suction paddle 22 is coupled to a separatesuction line allowing them to be independently disconnected from theirrespective suction source.

Another embodiment of suction paddles 22, is shown in FIG. 56. Suctionpaddle 22 is shown in this embodiment to comprise a series of foursuction ports 33 each of which is connected in fluid communication tosuction conduit 31 through suction aperture 32. In this embodiment,suction paddle 22, suction ports 33, suction apertures 32 and suctionconduits 31 are all generally similar to those previously described.FIG. 57 is a side view of suction paddle 22 showing the low profiledesign of suction paddle 22 in this embodiment. A low profile suctionpaddle helps provide more room for performing a surgical procedure, suchas sewing an anastomosis in the area of the suction paddles.

The term “tissue engager array” used herein comprises a first tissueengaging member, a second tissue engaging member and a spreader. Atissue engager array may be used with other components to form a tissueimmobilizing device. As discussed earlier, the tissue immobilizingdevices described herein may include additional features, for example,the ability to provide for the distribution of irrigation fluid onto thearea of the heart where the surgical procedure will be performed. Thesuction device may feature the ability to provide light to where thesurgical procedure will be performed, for example, via an optical fibercoupled to a remote light source. The suction device may feature asuture securing or retaining means, such as a suture coil or a pluralityof slots formed in the upper surfaces of suction paddles. The suctiondevice may feature one or more electrodes, a cutting apparatus or avisual means.

As disclosed, the present invention relates to a method and apparatusfor immobilizing tissue. In the preferred embodiment, the invention isused to immobilize heart tissue for a coronary artery bypass graftprocedure using either an open or closed chest approach, without theneed for a cardiopulmonary bypass. Other surgical techniques, however,which require immobilizing body tissue may also be performed using thepresent invention, such as surgery on other organs such as the stomach,gall bladder, etc., as well as on other body tissues, such as the eye orthe skin, for example. In addition, while the present invention has beendescribed in detail with particular reference to a preferred embodimentand alternate embodiments, it should be understood variations andmodifications can be effected within the scope of the following claims.Such modifications may include substituting elements or components whichperform substantially the same function in substantially the same way toachieve substantially the same result for those described herein.

1. A device for temporarily grasping an area of tissue of a beatingheart within a closed chest of a patient, the device comprising: asuction member having a contact surface adapted to be positioned on asurface of the beating heart within the closed chest, the suction memberhaving a suction lumen open to the atmosphere through the contactsurface, the suction member comprising one or more electrodes; asecuring member to secure the suction member to an operating table, thesecuring member coupled to the suction member; and, a remote actuatorfor moving the suction member relative to the securing member within thechest of the patient, the remote actuator adapted for positioningoutside the chest of the patient.
 2. The device of claim 1 whereinaccess to the beating heart is achieved through a small incision, stabwound, trocar or mini-thoracotomy.
 3. The device of claim 1 wherein thesuction member is sized to be introduced into the chest of the patientthrough a small incision, stab wound or mini-thoracotomy.
 4. The deviceof claim 1 further comprising an endoscope.
 5. The device of claim 1wherein the securing device comprises at least one joint or hinge. 6.The device of claim 5 wherein the remote actuator is adapted to actuatethe at least one joint or hinge from a position outside the chest of thepatient.
 7. The device of claim 1 wherein the remote actuator is capableof locking the position of the suction member relative to the securingmember.
 8. The device of claim 1 wherein the device further comprises ameans for dispensing or removing a fluid in the chest of the patient. 9.The device of claim 1 wherein the device further comprises a means fordelivering light in the chest of the patient.
 10. The device of claim 1further comprising a suture fixation member.
 11. The device of claim 1wherein a pulse generator is electronically coupled to the electrodes.12. The device of claim 1 wherein the securing member comprises an arm.13. The device of claim 12 wherein the arm is bendable.
 14. The deviceof claim 12 wherein the arm is a variable friction arm.
 15. The deviceof claim 1 wherein the securing member comprises at least one ball andsocket joint.
 16. The device of claim 1 wherein the securing membercomprises a clamp.
 17. The device of claim 1 wherein the securing membercomprises a slip-grip type holder.
 18. The device of claim 1 wherein thesuction member comprises at least one paddle.
 19. The device of claim 1wherein the contact surface of the suction member conforms generally tothe curvature of a patient's heart.
 20. The device of claim 1 furthercomprising a suction line for communicating a suction from a source ofnegative pressure to the suction lumen.
 21. The device of claim 20wherein the suction is provided at a negative pressure between about 200and about 600 mm Hg.
 22. The device of claim 1 wherein the contactsurface of the suction member comprises at least one suction port incommunication with the suction lumen.
 23. The device of claim 22 whereinthe at least one suction port is cylindrical-shaped.
 24. The device ofclaim 22 wherein the at least one suction port is cone-shaped.
 25. Thedevice of claim 22 wherein the at least one suction port is dome-shaped.26. The device of claim 1 wherein the securing member includes a clampfor clamping to the operating table.
 27. The device of claim 1 whereinthe operating table includes a mounting rail.
 28. The device of claim 27wherein the securing member includes a clamp for clamping to themounting rail.
 29. The device of claim 27 wherein the mounting railincludes a clamp for clamping the mounting rail to the operating table.30. A device for temporarily grasping an area of tissue of a beatingheart within a closed chest of a patient, the device comprising: asuction member having a contact surface adapted to be positioned on asurface of the beating heart within the closed chest, the suction memberhaving a suction lumen open to the atmosphere through the contactsurface; a suture fixation member, wherein the suture fixation membercomprises a coil; a securing member to secure the suction member to anoperating table, the securing member coupled to the suction member; and,a remote actuator for moving the suction member relative to the securingmember within the chest of the patient, the remote actuator adapted forpositioning outside the chest of the patient.
 31. A device fortemporarily grasping an area of tissue of a beating heart within aclosed chest of a patient, the device comprising: a suction memberhaving a contact surface adapted to be positioned on a surface of thebeating heart within the closed chest, the suction member having asuction lumen open to the atmosphere through the contact surface; asecuring member to secure the suction member to an operating table, thesecuring member coupled to the suction member, the securing membercomprising an arm, the arm having a proximal end and a distal end, thearm comprising: a plurality of links, the links being free to moverelative to one another so that the arm articulates; a cable extendingthrough the links, the cable having a distal end and a proximal end;and, a locking actuator coupled to the proximal end of the cable and theproximal end of the arm to tension the cable thereby locking the linksrelative to one another so that the arm changes from an articulatingcondition to a locked rigid condition; and, a remote actuator for movingthe suction member relative to the securing member within the chest ofthe patient, the remote actuator adapted for positioning outside thechest of the patient.
 32. A device for temporarily grasping an area oftissue of a beating heart within a closed chest of a patient, the devicecomprising: a suction member having a contact surface adapted to bepositioned on a surface of the beating heart within the closed chest,the suction member having a suction lumen open to the atmosphere throughthe contact surface; a securing member to secure the suction member toan operating table, the securing member coupled to the suction member,the securing member comprising at least one ball and socket joint,wherein the ball and socket securing member comprises a plurality oftube elements jointed together by a plurality of ball elements, the tubeelements having socket ends shaped to mate with the ball elements, acable disposed throughout the series of ball elements and tube elementsand a locking actuator coupled to the cable, the locking actuator beingcapable of tightening the cable to lock the securing member intoposition; and, a remote actuator for moving the suction member relativeto the securing member within the chest of the patient, the remoteactuator adapted for positioning outside the chest of the patient. 33.The device of claim 32 further comprising a means for maintaining thesame length of the cable within the securing device regardless of theorientation of any tube element to an adjacent ball element.
 34. Thedevice of claim 33 wherein the means for maintaining the same length ofthe cable within the securing device comprises tapered bushingspositioned within the lumen of the ball elements, the tapered bushingshaving a passage way thereout which has a first diameter at a first end,a second diameter in the middle and a first diameter at an end oppositethe first end, the first diameter being larger than the second diameter.35. The device of claim 32 wherein the locking actuator is actuatedremotely from a position outside a patient's chest.
 36. A minimallyinvasive surgical method of grasping tissue of a beating heart withoutcreating an incision through the sternum of a patient and spreadingapart the chest of the patient, the method comprising the followingsteps: providing a medical device having a suction member, a securingmember and a remote actuator, the suction member having a contactsurface adapted to grasp tissue of the beating heart, the suction memberhaving a suction lumen open to the atmosphere through the contactsurface, the suction lumen adapted to be coupled to a suction source,wherein suction is communicated to the tissue of the beating heart tograsp it, the suction member comprising one or more electrodes, thesecuring member coupled to the suction member, the securing memberadapted to secure the suction member to an operating table, the remoteactuator coupled to the suction member, the remote actuator adapted tomove the suction member relative to the securing member within the chestof the patient, the remote actuator adapted for positioning the suctionmember from outside the chest of the patient; creating a small incisionor stab wound between the ribs of the patient to access the beatingheart; introducing the suction member into the chest of the patientthrough the small incision or stab wound; moving the suction memberwithin the chest of the patient so as to contact tissue of the beatingheart; creating suction in the suction lumen to grasp tissue of thebeating heart; and, securing the suction member to an operating table.37. The method of claim 36 further comprising the step of performing asurgical procedure on the beating heart.
 38. The method of claim 37wherein the surgical procedure is performing a coronary artery bypassgraft.
 39. The method of claim 38 wherein the coronary artery bypassgraft procedure comprises grafting a mammary artery to a coronaryartery.
 40. The method of claim 36 further comprising the step ofmobilizing an artery or vein.
 41. The method of claim 40 wherein thestep of mobilizing an artery or vein comprises mobilizing a mammaryartery or saphenous vein.
 42. The method of claim 36 further comprisingthe step of moving or repositioning the beating heart to achieve betteraccess to an area of the beating heart which would otherwise bedifficult to access.
 43. The method of claim 42 wherein the step ofmoving or repositioning the beating heart to achieve better access to anarea of the beating heart which would otherwise be difficult to accesscomprises moving or repositioning the beating heart to access theposterior or backside of the heart.
 44. The method of claim 42 whereinthe step of moving or repositioning the beating heart to achieve betteraccess to an area of the beating heart which would otherwise bedifficult to access comprises moving or repositioning the beating heartwithout significant deterioration of the pumping function of the beatingheart.
 45. The method of claim 36 further comprising the step ofimmobilizing an area of tissue on a beating heart.
 46. The method ofclaim 36 further comprising the step of dispensing or removing a fluidin the chest of the patient, wherein the medical device comprises ameans for dispensing or removing the fluid.
 47. The method of claim 36further comprising the step of delivering light in the chest of thepatient, wherein the medical device comprises a means for delivering thelight.
 48. The method of claim 36 further comprising the step ofinjecting a medicinal substance into the heart.
 49. The method of claim36 further comprising the step of at least partially collapsing at leastone lung so as to provide an unencumbered area in which to manipulate atleast one surgical instrument.
 50. The method of claim 36 furthercomprising the step of using an endoscope.
 51. The method of claim 36wherein the securing member comprises at least one joint or hinge. 52.The method of claim 51 wherein the remote actuator actuates the at leastone joint or hinge.
 53. The method of claim 36 wherein the remoteactuator is capable of locking the position of the suction memberrelative to the securing member.
 54. The method of claim 36 wherein thesecuring member comprises an arm, the arm having a proximal end and adistal end, the arm comprising: a plurality of links, the links beingfree to move relative to one another so that the arm articulates; and, acable extending through the links.
 55. The method of claim 54 whereinthe securing member further comprises a locking actuator coupled to oneend of the cable and one end of the arm to tension the cable therebylocking the links relative to one another so that the arm changes froman articulating condition to a locked rigid condition.
 56. The method ofclaim 36 wherein the securing member comprises an arm.
 57. The method ofclaim 56 wherein the arm is bendable.
 58. The method of claim 56 whereinthe arm is a variable friction arm.
 59. The method of claim 36 whereinthe securing member comprises at least one ball and socket joint. 60.The method of claim 36 wherein the securing member comprises a clamp.61. The method of claim 36 wherein the securing member comprises aslip-grip type holder.
 62. The method of claim 36 wherein the suctionmember comprises at least one paddle.
 63. The method of claim 36 whereinthe contact surface of the suction member conforms generally to thecurvature of the beating heart.
 64. The method of claim 36 wherein themedical device comprises a suction line for communicating a suction froma source of negative pressure to the suction lumen.
 65. The method ofclaim 36 wherein suction is created at a negative pressure between about200 and about 600 mm Hg.
 66. The method of claim 36 wherein the contactsurface of the suction member comprises at least one suction port incommunication with the suction lumen.
 67. The method of claim 66 whereinthe at least one suction port is cylindrical-shaped.
 68. The method ofclaim 66 wherein the at least one suction port is cone-shaped.
 69. Themethod of claim 66 wherein the at least one suction port is dome-shaped.70. The method of claim 36 wherein the securing member includes a clampfor clamping to the operating table.
 71. The method of claim 36 whereinthe operating table includes a mounting rail.
 72. The method of claim 71wherein the securing member includes a clamp for clamping to themounting rail.
 73. A minimally invasive surgical method performed on abeating heart without creating an incision through the sternum of apatient and spreading apart the chest of the patient, the methodcomprising the following steps: providing a first medical device havinga tissue engaging member, a securing member and a remote actuator, thetissue engaging member having a contact surface adapted to engage tissueof the beating heart, the tissue engaging member having a suction lumenopen to the atmosphere through the contact surface, the suction lumenadapted to be coupled to a suction source, wherein suction iscommunicated to the tissue of the beating heart to engage it, the tissueengaging member comprising one or more electrodes, the securing membercoupled to the tissue engaging member, the securing member adapted tosecure the tissue engaging member to an operating table, the remoteactuator coupled to the tissue engaging member, the remote actuatoradapted to move the tissue engaging member relative to the securingmember within the chest of the patient, the remote actuator adapted forpositioning the tissue engaging member from outside the chest of thepatient; providing a second medical device having a tissue engagingmember, a securing member and a remote actuator, the tissue engagingmember having a contact surface adapted to engage tissue of the beatingheart, the securing member coupled to the tissue engaging member, thesecuring member adapted to secure the tissue engaging member to anoperating table, the remote actuator coupled to the tissue engagingmember, the remote actuator adapted to move the tissue engaging memberrelative to the securing member within the chest of the patient, theremote actuator adapted for positioning the tissue engaging member fromoutside the chest of the patient; introducing the tissue engaging memberof the first medical device into the chest of the patient; moving thetissue engaging member of the first medical device within the chest ofthe patient to engage tissue of the beating heart; securing the tissueengaging member of the first medical device to an operating table;introducing the tissue engaging member of the second medical device intothe chest of the patient; moving the tissue engaging member of thesecond medical device within the chest of the patient to engage tissueof the beating heart; and securing the tissue engaging member of thesecond medical device to an operating table.
 74. A minimally invasivesurgical method of grasping tissue of a beating heart without creatingan incision through the sternum of a patient and spreading apart thechest of the patient, the method comprising the following steps:providing a medical device having a suction member, a securing memberand a remote actuator, the suction member having a contact surfaceadapted to grasp tissue of the beating heart, the suction member havinga suction lumen open to the atmosphere through the contact surface, thesecuring member coupled to the suction member, the securing memberadapted to secure the suction member to an operating table, the securingmember comprising at least one ball and socket joint, wherein the balland socket securing member comprises a plurality of tube elementsjointed together by a plurality of ball elements, the tube elementshaving socket ends shaped to mate with the ball elements, a cabledisposed throughout the series of ball elements and tube elements and alocking actuator coupled to the cable, the locking actuator beingcapable of tightening the cable to lock the securing device intoposition, the remote actuator coupled to the suction member, the remoteactuator adapted to move the suction member relative to the securingmember within the chest of the patient, the remote actuator adapted forpositioning the suction member from outside the chest of the patient;creating a small incision or stab wound between the ribs of the patientto access the beating heart; introducing the suction member into thechest of the patient through the small incision or stab wound; movingthe suction member within the chest of the patient so as to contacttissue of the beating heart; creating suction in the suction lumen tograsp tissue of the beating heart; and, securing the suction member toan operating table.
 75. The method of claim 74 further comprising thestep of remotely actuating the locking actuator from a position outsidethe chest of the patient.
 76. The method of claim 73 wherein the tissueengaging member of the second medical device includes a suction lumenopen to the atmosphere through the contact surface of the second medicaldevice.
 77. The method of claim 76 further comprising the step ofcreating suction in the suction lumen of the second medical device toengage tissue of the beating heart.
 78. The method of claim 73 furthercomprising the step of performing a surgical procedure on the beatingheart.
 79. The method of claim 78 wherein the surgical procedure isperforming a coronary artery bypass graft.
 80. The method of claim 79wherein the coronary artery bypass graft procedure comprises grafting amammary artery to a coronary artery.
 81. The method of claim 73 furthercomprising the step of mobilizing an artery or vein.
 82. The method ofclaim 81 wherein the step of mobilizing an artery or vein comprisesmobilizing a mammary artery or saphenous vein.
 83. The method of claim73 further comprising the step of moving or repositioning the beatingheart to achieve better access to an area of the beating heart whichwould otherwise be difficult to access.
 84. The method of claim 83wherein the step of moving or repositioning the beating heart to achievebetter access to an area of the beating heart which would otherwise bedifficult to access comprises moving or repositioning the beating heartto access the posterior or backside of the heart.
 85. The method ofclaim 83 wherein the step of moving or repositioning the beating heartto achieve better access to an area of the beating heart which wouldotherwise be difficult to access comprises moving or repositioning thebeating heart without significant deterioration of the pumping functionof the beating heart.
 86. The method of claim 73 further comprising thestep of immobilizing an area of tissue on a beating heart.
 87. Themethod of claim 73 further comprising the step of dispensing or removinga fluid in the chest of the patient, wherein the first or second medicaldevice comprises a means for dispensing or removing the fluid.
 88. Themethod of claim 73 further comprising the step of delivering light inthe chest of the patient, wherein the first or second medical devicecomprises a means for delivering light.
 89. The method of claim 73further comprising the step of injecting a medicinal substance into theheart.
 90. The method of claim 73 further comprising the step of atleast partially collapsing at least one lung so as to provide anunencumbered area in which to manipulate at least one surgicalinstrument.
 91. The method of claim 73 further comprising the step ofusing an endoscope.
 92. The method of claim 73 wherein the securingmember of the first medical device comprises at least one joint orhinge.
 93. The method of claim 92 wherein the remote actuator of thefirst medical device actuates the at least one joint or hinge of thefirst medical device.
 94. The method of claim 92 wherein the securingmember of the second medical device comprises at least one joint orhinge.
 95. The method of claim 94 wherein the remote actuator of thesecond medical device actuates the at least one joint or hinge of thesecond medical device.
 96. The method of claim 73 wherein the remoteactuator of the first medical device is capable of locking the positionof the suction member of the first medical device relative to thesecuring member of the first medical device.
 97. The method of claim 96wherein the remote actuator of the second medical device is capable oflocking the position of the suction member of the second medical devicerelative to the securing member of the second medical device.
 98. Themethod of claim 73 wherein the securing member of the first medicaldevice comprises an arm.
 99. The method of claim 98 wherein the securingmember of the second medical device comprises an arm.
 100. The method ofclaim 73 wherein the securing member of the first medical devicecomprises at least one ball and socket joint.
 101. The method of claim100 wherein the securing member of the second medical device comprisesat least one ball and socket joint.
 102. The method of claim 73 whereinthe securing member of the first or second medical device comprises aclamp.
 103. The method of claim 73 wherein the securing member of thefirst or second medical device comprises a slip-grip type holder. 104.The method of claim 73 wherein the tissue engaging member of the firstor second medical device comprises at least one paddle.
 105. The methodof claim 73 wherein the contact surface of the tissue engaging member ofthe first or second medical device conforms generally to the curvatureof the beating heart.
 106. The method of claim 73 wherein the securingmember of the first medical device includes a clamp for clamping to theoperating table.
 107. The method of claim 106 wherein the securingmember of the second medical device includes a clamp for clamping to theoperating table.
 108. The method of claim 73 wherein the operating tableincludes a mounting rail.
 109. The method of claim 108 wherein thesecuring member of the first medical device includes a clamp forclamping to the mounting rail.
 110. The method of claim 109 wherein thesecuring member of the second medical device includes a clamp forclamping to the mounting rail.
 111. A minimally invasive surgical methodperformed on a beating heart without creating an incision through thesternum of a patient and spreading apart the chest of the patient, themethod comprising the following steps: providing a first medical devicehaving a tissue engaging member, a securing member and a remoteactuator, the tissue engaging member having a contact surface adapted toengage tissue of the beating heart, the securing member coupled to thetissue engaging member, the securing member adapted to secure the tissueengaging member to an operating table, the securing member comprising anarm, the arm having a proximal end and a distal end, the arm comprising:a plurality of links, the links being free to move relative to oneanother so that the arm articulates; and, a cable extending through thelinks, the remote actuator coupled to the tissue engaging member, theremote actuator adapted to move the tissue engaging member relative tothe securing member within the chest of the patient, the remote actuatoradapted for positioning the tissue engaging member from outside thechest of the patient; providing a second medical device having a tissueengaging member, a securing member and a remote actuator, the tissueengaging member having a contact surface adapted to engage tissue of thebeating heart, the securing member coupled to the tissue engagingmember, the securing member adapted to secure the tissue engaging memberto an operating table, the remote actuator coupled to the tissueengaging member, the remote actuator adapted to move the tissue engagingmember relative to the securing member within the chest of the patient,the remote actuator adapted for positioning the tissue engaging memberfrom outside the chest of the patient; introducing the tissue engagingmember of the first medical device into the chest of the patient; movingthe tissue engaging member of the first medical device within the chestof the patient to engage tissue of the beating heart; securing thetissue engaging member of the first medical device to an operatingtable; introducing the tissue engaging member of the second medicaldevice into the chest of the patient; moving the tissue engaging memberof the second medical device within the chest of the patient to engagetissue of the beating heart; and securing the tissue engaging member ofthe second medical device to an operating table.
 112. The method ofclaim 111 wherein the securing member of the first medical devicefurther comprises a locking actuator coupled to one end of the cable andone end of the arm to tension the cable thereby locking the linksrelative to one another so that the arm changes from an articulatingcondition to a locked rigid condition.
 113. The method of claim 111wherein the securing member of the second medical device comprises anarm, the arm having a proximal end and a distal end, the arm comprising:a plurality of links, the links being free to move relative to oneanother so that the arm articulates; and, a cable extending through thelinks.
 114. The method of claim 113 wherein the securing member of thesecond medical device further comprises a locking actuator coupled toone end of the cable of the second medical device and one end of the armof the second medical device to tension the cable of the second medicaldevice thereby locking the links of the second medical device relativeto one another so that the arm of the second medical device changes froman articulating condition to a locked rigid condition.